Haptic guided optimized aircraft maintenance assembly disassembly path planning scheme

摘要

The virtual aircraft manufacturing environment the most difficult phase so far considered is the automated A/D process (Assembly / Disassembly). The effectiveness of the maintenance scheme depends on the time taken to complete the A/D process. When dealing with complex 3D environment that simulates realistic models, the assembly path planning of the parts becomes more complex because of the factors like complex geometry computations, obstacles, orientation and initial/final position of the part. Therefore, In a 3D environment the path planning of the parts becomes an important factor affecting the overall efficiency of the maintenance process. To address this problem an intelligent assembly path planner is developed with an approach based on Ant colony algorithm and potential field path planning concepts. Furthermore, haptic-assisted feature is implemented for user support for realistic 3D path planning simulations and training.