Research on assembly path planning and optimization of complex structures

In order to solve the difficult problem of assembly path planning of complex structures, an obstacle and greedy rule based rapidly-exploring random tree (OG-RRT) algorithm is proposed. The algorithm is based on basic RRT algorithm, adopts the combination of random sampling, goal sampling and local sampling, guides the extended direction of the random tree with the collision information (collision normal vector and collision point) of the target part and obstacles, extends nodes by greedy rule along each direction with translation-after-rotation expansion strategy. The piecewise linear approximation method is utilized to optimize the original assembly path. An assembly path planning prototype system is developed and some examples are tested to verify feasibility of the proposed algorithm.