关键词: 虚拟装配, 粒子滤波, 自动装配定位, 马尔科夫链蒙特卡洛方法

Abstract: To realize the fast automatic assembly positioning of virtual part model and realistic simulation of assembly process,the traditional particle filter algorithm was combined with typical Markov Chain Monte Carlo (MCMC) method-Metropolis Hastings (MH) sampling method to applied to virtual assembly.Random samples were used to describe the probability distribution of parts position,and the parts were sampled according to the importance function.Through adjusting the weights of particles and performing poses resampling for the collided parts,the probability distributions of actual part pose were simulated and the assembling part pose was estimated by the weighted calculation results of the samples.The influences of the factors such as sampling number and parts shapes complexity on the performance of this method and assembly efficiency were discussed.This algorithm had been applied to a self-developed virtual assembly prototype system,and the application result showed that the proposed algorithm could complete assembly navigation automatically and precisely.

Key words: virtual assembly, particle filters, automatic assembly location, Markov chain Monte Carlo method