柔性装配系统设计的研究

对柔性装配系统设计中的装配顺序规划和机器人装配站规划进行了研究。装配体所有的分解方式可通过计算装配体零件接触关系的割集来实现，然后利用分离可行性和可行分离路径二条判来判断哪 些拆卸方式是可行的，重复上述分解过程，直到单个零件。

The Study of the Flexible Assembly System Design

In this article, the assembly sequence planning and the layout of robotic assembly workstations in flexible assembly system (FAS) design is studied. In general,assembly sequence planning for a assembly can be transformed into the inverse of disassembly sequence planning. All decomposition modes of the assembly can be generated by computing the cut-set of contact relations among parts in the assembly,and the feasibility of a decomposition mode is judged by two principles, which are the separation feasibility and the feasible separation path.This separation procedure are repeated until single parts are obtained, so that the AND/OR graph of feasible assembly sequeces can be represented. For the purpose of raising the assembly precision and the successful probability of assembly (SPA), the robotic assembly workstation layout is studied by applying Monte Carlo method in the paper. The planning procedure regards highest SPA pose as assembly points f and the minimum pose errors as grasp points.Through adjusting the assembly and grasp points properly, the assembly motion path can bereduced as short as possible.