【作者】 刘潇；

【导师】 刘检华；

【作者基本信息】 北京理工大学 ， 机械工程， 2015， 硕士

【摘要】 线缆布局设计是机电产品研发工作中的重要环节之一，也是比较繁重的工作任务之一。线缆自动布局设计采用计算机智能算法自动搜索得到线缆布局路径，相比于人机交互线缆布局设计具有更高的布线效率。本论文以航天复杂产品为具体对象，对线缆自动布局的相关理论、关键技术和实现方法进行了研究。论文的主要研究工作概括如下：（1）分析了复杂机电产品中线缆布局设计的特点以及国内外相关领域的研究现状，总结了现有研究成果中线缆及管路布局路径搜索算法的优缺点，最后指出了论文的项目来源和研究意义。（2）分析了航空航天产品的线缆自动布局设计的总体技术流程，在此基础上对线缆自动布局问题进行了描述，定义了线缆结构层次模型和自动布局求解空间，并总结了线缆自动布局设计中的工程约束。（3）结合基本快速扩展随机树算法及线缆布局中的工程约束，针对单根线缆自动布局路径求解，提出了基于障碍物及目标吸引的改进快速扩展随机树算法（Obs-GARRT），包括基于障碍物碰撞面片法矢量方向的扩展策略及基于历史与目标点的扩展策略等。提出了基于扩展碰撞信息的线缆布局路径优化算法，对求解得到的初始路径进行了优化，最后通过理论分析与实例验证了算法可行性。（4）结合基本随机路径图算法及线缆布局中的工程约束，针对分支线缆自动布局路径求解问题，提出了基于适应性增强的随机路径图算法（AE PRM），包括基于障碍物的路径图构建及基于环境特点的路径图增强策略等。最后通过实例验证及相关算法对比验证了算法可行性。（5）作为上述各项研究成果的工程实践和验证，自主设计并开发了线缆自动布局设计原型系统。介绍了软件系统的开发背景、体系结构、功能模块、接口规范、实现方法和运行实例，并结合实例对提出的方法和技术进行了验证。最后，对全文进行总结，并对相关研究工作的后续发展进行了展望。更多还原

【Abstract】 Cable layout design is one of the important aspects for mechanical and electricalproducts, and also is relatively grunt. Cable automatic layout design has higher efficiencyand lower cost than human computer interaction methods because of intelligent pathplanning algorithm. This paper takes the astronautics complex products as the specificobjects, conducts the research on the theories, key technics and implementation methods ofcable automatic layout design.The studies of this dissertation focus on following aspects:(1) The features of the cable automatic layout design are analyzed. The researchbackground, significance and research status of the related fields at home and abroad arediscussed. The existing methods used in cable and pipe path planning are summarized.(2) The overall process of cable automatic layout design is proposed. The relatedquestions of cable automatic layout design are presented, including the mathematicaldefinition and description of three-tier cable architecture model, searching space, and someengineering constraints.(3) An obstacle and goal attracting based RRT, which is based on the standard RRTand engineering constraints, is proposed to get path for cable without branches. Automaticpath optimization based on engineering constraints and collision information duringextending is proposed to optimize the original layout path.(4) An adaptive enhancement based PRM is proposed to get path for cable withbranches, which includes constructing roadmap based on obstacle and enhancing roadmapby coefficient.(5) To make the research result into engineering application, cable automatic layoutdesign system is developed. The develop background, technical way, system structure,function module, interface criterion, application method and example are expatiated.Finally, the summing-up of the whole dissertation is made, prediction of the futureresearch and direction of relative techniques are made.更多还原