Abstract: To solve the multi-branch cable automatic routing problem in mechanical and electrical products,a method based on improved Probabilistic Road Maps(PRM)was proposed.According to the connection relationship of cable in complex electromechanical products,the cable architecture structure model of "cable parts-harness-cable segment" was designed.Based on the basic PRM,the initial roadmaps was constructed,an enhance extension according to nodes'extending failure coefficient was make,and a local space to supply path exploring was applied.The multi-branch layout map was obtained by fitting with non-uniform cubic B-spline curve.A 3D automatic routing prototype system was developed and some experiments were applied to verify the efficiency of the technology.

Key words: multi-branch cable, automatic routing, probabilistic roadmaps algorithm, path planning

摘要： 针对机电产品中普遍存在的分支线缆的自动布局问题,提出一种基于改进随机路径图算法的分支线缆自动布局方法。首先根据复杂产品中线缆连接关系的特点,提出并建立了“线缆零件—线束—线缆段”的线缆层次结构模型。然后以基本随机路径图算法为基础,采用基于障碍物的采样策略构建初始路径图,根据初始路径图中的节点失败系数进行路径图的“增强”扩展,并提出局部求解空间扩展策略。对求解得到的路径点,拟合成线作为分支线缆布局结果。最后设计开发了线缆自动布局设计软件原型系统,并进行了算例测试与实例应用,结果验证了该方法的可行性。

关键词: 分支线缆, 自动布局, 随机路径图, 路径规划