Cable Assembly Path Solving for Complex Mechatronic Products Based on Improved Rapidly-Exploring Random Tree Algorithm

Aiming at the difficulty in solving the cable assembly path of complex mechatronic products, a cable assembly path solving method based on improved rapidly-exploring random tree algorithm is proposed. Firstly, the cable physical attribute model based on Cosserat elastic rod theory is constructed, and then three strategies for improving the rapidly-exploring random tree algorithm are proposed: the cable assembly path planning strategy based on artificial potential field method, makes the path connect with the cable target configuration to facilitate the actual cable assembly; to prevent the cable from colliding with the parts due to its own gravity; the node expansion strategy of the optimal height of the cable from the ground is considered; based on the path optimization strategy of non-uniform cubic B-spline curve, a relatively smooth path is found. The simulation results of the proposed method in Matlab cable assembly path map show that the improved rapidly-exploring random tree algorithm has better results. Finally, the proposed method is verified by an example of cable assembly path in a phased array radar.