基于矩阵和线性递推算法的自动装配工艺顺序WMS数学模型
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摘要
为了获得产品的最优自动装配顺序,根据自动装配原理提出装配零件集和装配约束件的概念,运用矩阵算法和线性递推算法构建装配顺序的WMS数学模型。依据产品装配结构特征和装配约束件约束特征分别构建装配关联矩阵和装配约束矩阵,进而获得理论装配工艺数和顺序序列。运用层次分析法确定装配因素的影响权重系数和对各影响因素值进行无量纲化处理,获得产品的装配顺序评价模型。运用此模型即可便捷地确定产品的最优自动装配顺序。以一自动-手动水龙头装配为例进行实证研究。结果表明上述理论方法可行和实用。
In order to obtain the optimal automatic assembly sequence of the product,the concept of assembly parts and assembly restraints was proposed according to the principle of automatic assembly. And the WMS mathematical model of assembly sequence was constructed with matrix algorithm and linear recursive algorithm. In line with the characteristics of product assembly structure and assembly constraint,the assembly matrix and assembly constraint matrix were established respectively. The number of theoretical assembly processes and sequences,in turn,were obtained. The weight coefficients of assembly-influencing factors were determined by Analytic Hierarchy Process and the non-dimensionalization of each influencing factor was done for the realization of the evaluation model of assembly sequences. It is easy to determine the optimal automatic assembly sequence for the product with this model. The results,taking the automatic-manual faucet assembly as an example for the case study,show that the above theoretical method is feasible and practical.
In order to obtain the optimal automatic assembly sequence of the product,the concept of assembly parts and assembly restraints was proposed according to the principle of automatic assembly. And the WMS mathematical model of assembly sequence was constructed with matrix algorithm and linear recursive algorithm. In line with the characteristics of product assembly structure and assembly constraint,the assembly matrix and assembly constraint matrix were established respectively. The number of theoretical assembly processes and sequences,in turn,were obtained. The weight coefficients of assembly-influencing factors were determined by Analytic Hierarchy Process and the non-dimensionalization of each influencing factor was done for the realization of the evaluation model of assembly sequences. It is easy to determine the optimal automatic assembly sequence for the product with this model. The results,taking the automatic-manual faucet assembly as an example for the case study,show that the above theoretical method is feasible and practical.
引文
[1]卢小平.面向虚拟装配的装配顺序规划研究[J].系统仿真学报,2003(1):44-47.
[2]刘亚杰,古天龙,徐周波,等.基于改进遗传编程的并行装配序列规划[J].计算机集成制造系统,2013,19(6):1238-1248.
[3]Bahubalendruni M V A Raju,Biswal Bibhuti Bhusan,Upadhyay Vishal. A review on assembly sequence generation and its automation[J]. Proceedings of the Institution of Mechanical Engineers part Cjournal of Mechanical Engineering Science,2016,230(5):824-838.
[4] Sekiguchi Hetal. Study on automatic determination of assembly sequence[J]. Annals of the CIRP,1983,32:30-33.
[5]Bourjault A,Lbole A. Modeling an assembly process[J]. IEEE International Conference on Automation of Manufacturing Industry,1986,20(2):183-198.
[6]De Fazio TL,Whitney DE. Simplified generation of all mechanical assembly sequence[J]. IEEE Journal of Robotics and Automation,1987,RA-3(6):640-658.
[7]Homem de Mello L S,Sanderson AC. A correct and computer algorithm for the generation of mechanical assembly sequences[J]. IEEE Transaction on Robotics and Automation,1991,7(2):228-240.
[8]Homende Mello LS,Sanderson AC. Automatic generation of mechanical assembly sequences[J]. Proeedings of the 1989 IEEE International Conference on Robotics and Automation,1989,1:55-61.
[9]焦少辉.虑装配工具的虚拟装配支持系统的研究与实现[D].郑州:郑州大学,2004.
[10]顾延权,高国安,徐向阳.装配工艺规划中装配序列生成与评价方法研究[J].计算机集成制造系统,1998,4(1):25-27.
[11]沈梅,雷哲书,张铁昌.基于装配特征的装配顺序生成算法[J].工程图学学报,2001(3):14-19.
[12]谭光宇,广慧,陈栋.基于图的子装配识别与装配序列规划[J].机器人,2001,2(1):68-72.
[13]王孝义,汪惠芬.基于结构树重构的复杂产品多级子装配规划研究[J].机械科学与技术,2011,30(5):797-803.
[14]史士财,李荣,付宜利.基于改进蚁群算法的装配序列规划[J].计算机集成制造系统,2010,16(6):1189-1194.
[15]吴昊,左洪福.基于改进遗传算法的产品拆卸序列规划[J].中国机械工程,2009,20(6):699-703.
[16]张秀芬,张树有.基于粒子群算法的产品拆卸序列规划方法[J].计算机集成制造系统,2009,15(3):508-514.
[17]宁黎华,古天龙.基于免疫算法的装配序列规划问题求解[J].计算机集成制造系统,2007,13(1):81-87.
[18]张晓桂,高波.面向印刷机械的虚拟装配系统研究与开发[J].中国机械工程,2007,18(22):2717-2720.
[19]孙康,廖文和.微小卫星的自适应蚁群算法装配序列规划[J].机械制造与研究2007,36(3):24-29.
[20]夏平均,姚英学,刘江省,等.基于虚拟现实和仿生算法的装配序列优化[J].机械工程学报,2007,43(4):44-52.
[21]刘亚杰,古天龙,徐周波,等.基于改进遗传编程的并行装配序列规划[J].计算机集成制造系统,2013,19(6):1238-1248.
[22]Pedraza G,Diaz M,Lombera H. An approach for assembly sequence planning by genetic algorithms[J]. IEEE Latin America transactions,2016,14:2066-2071.
[23]耿育科,孙荟博.粒子群算法在装配序列规划中的应用方法研究[J].航空制造技术,2016(9):66-69.
[24]陈大亨,张彪,宫华.基于粒子群优化算法的装配序列规划研究[J].沈阳理工大学学报,2016,35(4):38-41,84.
[25]于宏,水丽.改进粒子群算法的装配序列规划方法[J].沈阳理工大学学报,2015,34(4):29-33,89.
[26]Li Xinyu,Qin Kai,Zeng Bing. Assembly sequence planning based on an improved harmony search algorithm[J]. International Journal of Advanced Manufacturing Technology, 2016,84(9-12):2367-2380.
[27]Wang Yong,Tian De. A weighted assembly precedence graph planning[J]. International Journal of Advanced Manufacturing Technology,2016,83(1-4):99-115.
[28]姚寿文,鲁立鹏,李慎龙.基于割集算法和子装配体识别的装配顺序规划[J].机床与液压,2008,36(9):501-505.
[29]徐周波,肖鹏,古天龙,等.基于混沌混合算法的装配序列规划[J].计算机集成制造系统,2015,21(12):3200-3208.
[30]管强一,张申生,刘继红.装配过程稳定性分析[J].上海交通大学学报,2004,38(4):501-505.
[31]高钦和,邓刚锋.基于矩阵运算的虚拟装配体拆卸过程建模方法[J].计算机应用,2012,32(11):3232-3234,3239.
[32]孙正国,顾寄南,侯永涛.计算机辅助装配顺序综合评价的研究[J].机械设计,2005,22(10):28-31.
[33]李元源.风力机装配顺序综合评价方法研究[D].北京:华北电力大学,2013.
[2]刘亚杰,古天龙,徐周波,等.基于改进遗传编程的并行装配序列规划[J].计算机集成制造系统,2013,19(6):1238-1248.
[3]Bahubalendruni M V A Raju,Biswal Bibhuti Bhusan,Upadhyay Vishal. A review on assembly sequence generation and its automation[J]. Proceedings of the Institution of Mechanical Engineers part Cjournal of Mechanical Engineering Science,2016,230(5):824-838.
[4] Sekiguchi Hetal. Study on automatic determination of assembly sequence[J]. Annals of the CIRP,1983,32:30-33.
[5]Bourjault A,Lbole A. Modeling an assembly process[J]. IEEE International Conference on Automation of Manufacturing Industry,1986,20(2):183-198.
[6]De Fazio TL,Whitney DE. Simplified generation of all mechanical assembly sequence[J]. IEEE Journal of Robotics and Automation,1987,RA-3(6):640-658.
[7]Homem de Mello L S,Sanderson AC. A correct and computer algorithm for the generation of mechanical assembly sequences[J]. IEEE Transaction on Robotics and Automation,1991,7(2):228-240.
[8]Homende Mello LS,Sanderson AC. Automatic generation of mechanical assembly sequences[J]. Proeedings of the 1989 IEEE International Conference on Robotics and Automation,1989,1:55-61.
[9]焦少辉.虑装配工具的虚拟装配支持系统的研究与实现[D].郑州:郑州大学,2004.
[10]顾延权,高国安,徐向阳.装配工艺规划中装配序列生成与评价方法研究[J].计算机集成制造系统,1998,4(1):25-27.
[11]沈梅,雷哲书,张铁昌.基于装配特征的装配顺序生成算法[J].工程图学学报,2001(3):14-19.
[12]谭光宇,广慧,陈栋.基于图的子装配识别与装配序列规划[J].机器人,2001,2(1):68-72.
[13]王孝义,汪惠芬.基于结构树重构的复杂产品多级子装配规划研究[J].机械科学与技术,2011,30(5):797-803.
[14]史士财,李荣,付宜利.基于改进蚁群算法的装配序列规划[J].计算机集成制造系统,2010,16(6):1189-1194.
[15]吴昊,左洪福.基于改进遗传算法的产品拆卸序列规划[J].中国机械工程,2009,20(6):699-703.
[16]张秀芬,张树有.基于粒子群算法的产品拆卸序列规划方法[J].计算机集成制造系统,2009,15(3):508-514.
[17]宁黎华,古天龙.基于免疫算法的装配序列规划问题求解[J].计算机集成制造系统,2007,13(1):81-87.
[18]张晓桂,高波.面向印刷机械的虚拟装配系统研究与开发[J].中国机械工程,2007,18(22):2717-2720.
[19]孙康,廖文和.微小卫星的自适应蚁群算法装配序列规划[J].机械制造与研究2007,36(3):24-29.
[20]夏平均,姚英学,刘江省,等.基于虚拟现实和仿生算法的装配序列优化[J].机械工程学报,2007,43(4):44-52.
[21]刘亚杰,古天龙,徐周波,等.基于改进遗传编程的并行装配序列规划[J].计算机集成制造系统,2013,19(6):1238-1248.
[22]Pedraza G,Diaz M,Lombera H. An approach for assembly sequence planning by genetic algorithms[J]. IEEE Latin America transactions,2016,14:2066-2071.
[23]耿育科,孙荟博.粒子群算法在装配序列规划中的应用方法研究[J].航空制造技术,2016(9):66-69.
[24]陈大亨,张彪,宫华.基于粒子群优化算法的装配序列规划研究[J].沈阳理工大学学报,2016,35(4):38-41,84.
[25]于宏,水丽.改进粒子群算法的装配序列规划方法[J].沈阳理工大学学报,2015,34(4):29-33,89.
[26]Li Xinyu,Qin Kai,Zeng Bing. Assembly sequence planning based on an improved harmony search algorithm[J]. International Journal of Advanced Manufacturing Technology, 2016,84(9-12):2367-2380.
[27]Wang Yong,Tian De. A weighted assembly precedence graph planning[J]. International Journal of Advanced Manufacturing Technology,2016,83(1-4):99-115.
[28]姚寿文,鲁立鹏,李慎龙.基于割集算法和子装配体识别的装配顺序规划[J].机床与液压,2008,36(9):501-505.
[29]徐周波,肖鹏,古天龙,等.基于混沌混合算法的装配序列规划[J].计算机集成制造系统,2015,21(12):3200-3208.
[30]管强一,张申生,刘继红.装配过程稳定性分析[J].上海交通大学学报,2004,38(4):501-505.
[31]高钦和,邓刚锋.基于矩阵运算的虚拟装配体拆卸过程建模方法[J].计算机应用,2012,32(11):3232-3234,3239.
[32]孙正国,顾寄南,侯永涛.计算机辅助装配顺序综合评价的研究[J].机械设计,2005,22(10):28-31.
[33]李元源.风力机装配顺序综合评价方法研究[D].北京:华北电力大学,2013.