基于遗传算法的装配顺序规划研究
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摘要
装配是制造过程的最后环节，装配质量从很大程度上影响产品的性能，装配成本在制造成本中占有很大的比重。随着现代生产从单一品种、大批量生产向多品种、高质量、小批量生产模式的转换，装配作业在制造过程中所占的比重也日益增加。因此，在产品的设计阶段和装配规划阶段进行产品的预装配和装配分析，对提高产品的质量，降低生产成本具有十分重要的意义。本文在介绍课题研究背景及意义的基础上，研究装配规划中装配顺序评价与优化的过程，提出基于遗传算法的装配顺序评价与优化方法，在特征建模及装配分析基础上，实现装配顺序的生成、评价与选优。
本文首先介绍了装配建模的研究情况，重点分析基于特征的层次化装配建模方法，并以此方法为基础进行装配规划。
装配顺序评价与优化是装配规划系统中的一个难点，同时也是一个重点，涉及装配过程中的诸多因素，对这些因素的信息提取、定性分析、定量分析的实现，是正确、客观评价装配顺序的关键。本文利用集对分析理论，从系统的角度，以装配顺序达到理想成本水平为评价目标，对装配顺序进行评价。本文介绍了集对分析理论的有关定义，给出基于集对分析及联系度系统集对势排序的评价方法，通过考察装配并行度、重定向次数、一次定向所能装配零件数量的最大值确定最优装配顺序。
装配顺序规划是一个组合优化过程，本文根据遗传算法的特点，将其应用于装配顺序规划。分析讨论了顺序规划的遗传算法中染色体编码方式、适应度函数的确定等问题。
运用MATLAB语言开发出装配顺序规划的遗传算法程序，并以实例进行分析验证。
Assembly is the end of manufacture process, assembly quality affect product's performance in high degree, and assembly cost is a big part of the manufacture cost. With the manufacture mode transfer from single and volume produce to varieties, little batch and high quality, assembly takes a more and more proportion in manufacture. So pre-assembly and analyzing in design and assembly programming is more important for improving product's quality and reducing production cost. Based on the introduction of the project background and interrelated research, the evaluation and optimization of assembly planning are researched. An approach of assembly sequence's evaluation and optimization based on genetic algorithm is proposed, on the background of based-on-feature assembly model and analysis of assembly, the generation and evaluation and selection of assembly sequence is realized.
In this paper, a situation of assembly model is introduced, and concentrated in the analysis of arrangement-model, and make planning to assembly sequence at the base of this model.
The evaluation and optimization of assembly sequence is difficulty and important in ASP system, which related to many factors. Assembly sequence will be evaluated correctly and objectivity after the information-gained and qualitative analysis and quantitative analysis of the factors. In this paper, set-pair analysis (SPA) theory is used in evaluating the assembly sequence with an object of the perfect cost. The interrelated definitions of set-pair analysis is introduced, and give an evaluation approach based on affiliation degree and set-pair state, the optimal sequence is confirmed through review the degree of concurrent and the times of reorientation and the maximum number of parts be assembled in one orientation. The ASP is a combinatorial evaluation process; the genetic algorithm is used in this process because of its characteristic. Chromosome coding and fitness function constructing are two main issues. In the end, several examples are given to improve the validity of this evaluation approach by a programme, which is programmed by MATLAB.
本文首先介绍了装配建模的研究情况，重点分析基于特征的层次化装配建模方法，并以此方法为基础进行装配规划。
装配顺序评价与优化是装配规划系统中的一个难点，同时也是一个重点，涉及装配过程中的诸多因素，对这些因素的信息提取、定性分析、定量分析的实现，是正确、客观评价装配顺序的关键。本文利用集对分析理论，从系统的角度，以装配顺序达到理想成本水平为评价目标，对装配顺序进行评价。本文介绍了集对分析理论的有关定义，给出基于集对分析及联系度系统集对势排序的评价方法，通过考察装配并行度、重定向次数、一次定向所能装配零件数量的最大值确定最优装配顺序。
装配顺序规划是一个组合优化过程，本文根据遗传算法的特点，将其应用于装配顺序规划。分析讨论了顺序规划的遗传算法中染色体编码方式、适应度函数的确定等问题。
运用MATLAB语言开发出装配顺序规划的遗传算法程序，并以实例进行分析验证。
Assembly is the end of manufacture process, assembly quality affect product's performance in high degree, and assembly cost is a big part of the manufacture cost. With the manufacture mode transfer from single and volume produce to varieties, little batch and high quality, assembly takes a more and more proportion in manufacture. So pre-assembly and analyzing in design and assembly programming is more important for improving product's quality and reducing production cost. Based on the introduction of the project background and interrelated research, the evaluation and optimization of assembly planning are researched. An approach of assembly sequence's evaluation and optimization based on genetic algorithm is proposed, on the background of based-on-feature assembly model and analysis of assembly, the generation and evaluation and selection of assembly sequence is realized.
In this paper, a situation of assembly model is introduced, and concentrated in the analysis of arrangement-model, and make planning to assembly sequence at the base of this model.
The evaluation and optimization of assembly sequence is difficulty and important in ASP system, which related to many factors. Assembly sequence will be evaluated correctly and objectivity after the information-gained and qualitative analysis and quantitative analysis of the factors. In this paper, set-pair analysis (SPA) theory is used in evaluating the assembly sequence with an object of the perfect cost. The interrelated definitions of set-pair analysis is introduced, and give an evaluation approach based on affiliation degree and set-pair state, the optimal sequence is confirmed through review the degree of concurrent and the times of reorientation and the maximum number of parts be assembled in one orientation. The ASP is a combinatorial evaluation process; the genetic algorithm is used in this process because of its characteristic. Chromosome coding and fitness function constructing are two main issues. In the end, several examples are given to improve the validity of this evaluation approach by a programme, which is programmed by MATLAB.
引文
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7. Lee S, Backward assembly planning with assembly cost analysis, Proceedings of the IEEE International Conference on Robotics and Autonation, 1992,2382-2391.
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11. Huang Y F and Lee C S G, Precedence knowledge in feature mating operation assembly planning. IEEE International Conference on Robotics and Automation, 1989, (5): 216-221.
12. Dini G and Santochi M, Automated sequencing and subassembly detection in assembly planning. Annals CIKP,1992,41(1):1-4.
13. Kiam Tian Scow and Devanathan K, A temporal framework for assembly sequence representation and analysis, IEEE Transaction on Robotics and Automation, 1994, 10(2): 220-229.
14. Shah I J and Tadepalli R, Feature based assembly modeling, Computers in Engineering ASME, 1992, (1): 253-260.
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19．侯晓林，张中生，步丰林，并行工程中的产品模型，计算机辅助设计与制造，1995，(11)：14-16．
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Automation, 1989, 62-68.
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26. Chang K H and Wee W G. A knowledge based planning system for mechanical assembly plans. IEEE expert, 1988，3(1): 18-33.
27．蔡自兴．一个机器人柔性装配规划系统．机器人．1990，12(6)：1-9．
28. Zhang W X. Representation of assembly and automatic robot planning by Petri net, IEEE Transaction on System, Man, and Cybernetics, 1989, 19(2): 418-422.
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2. Zha X F, Lim, S Y E and Fork S C, Concurrent integrated design and assembly planning, ICARCV'96, Singapore, 1996.
3. A.Bourjault, "Contribution a une approche methodologique de I'assemblage automatise: Elaboration automatique des sequences operatiores," Thesis to obtain Grade de Postor es Sciences Physiques at L'Universite de Franche-Comte,Nov. 1984.
4. Homen de Mello k S and Sanderson A C. AND/OR Graph Representation of Assembly Plans. IEEE Trans. On Robotics and Automation 1990,6(2): 188-199.
5. Lee S and Shin Y G, Assembly planning based on subassembly extractions, IEEE International conference on Robotics and Automation, 1990, 1606-1611.
6. Lee S and Yi C, Subassembly stability and reorientation, IEEE International Conference On Robotics and Automation, 1993,521-526.
7. Lee S, Backward assembly planning with assembly cost analysis, Proceedings of the IEEE International Conference on Robotics and Autonation, 1992,2382-2391.
8. Heemskerk J M, The use of heuristics in assembly sequence planning, Annals of the CIRP, 1989,38(1): 37-40.
9. Ishir K, Life-Cycle Engineering Design, Transactions of the ASME, 1995, 117(6): 42-47.
10. Huang Y F and Lee C S G, An automatic assembly planning system, IEEE International Conference on Robotics and Automation, 1990, 2: 1594-1599.
11. Huang Y F and Lee C S G, Precedence knowledge in feature mating operation assembly planning. IEEE International Conference on Robotics and Automation, 1989, (5): 216-221.
12. Dini G and Santochi M, Automated sequencing and subassembly detection in assembly planning. Annals CIKP,1992,41(1):1-4.
13. Kiam Tian Scow and Devanathan K, A temporal framework for assembly sequence representation and analysis, IEEE Transaction on Robotics and Automation, 1994, 10(2): 220-229.
14. Shah I J and Tadepalli R, Feature based assembly modeling, Computers in Engineering ASME, 1992, (1): 253-260.
15. Shah I J, Rogers M T, Assembly modeling as an extension of feature-based design, Research Engineering 1993, (5): 218-237.
16. Sodhi R, Turner J U, towards modeling of assemblies for product design, Computer-Aided Design, 1994,26(2): 85-97.
17. Anantha R and Kramer G, Assembly modeling by geometric constraint satisfaction, Computer-aided Design, 1996,28(9): 707-722.
18. Medland A J, The computer based design process, Springer-Verlag. New York. 1986.
19．侯晓林，张中生，步丰林，并行工程中的产品模型，计算机辅助设计与制造，1995，(11)：14-16．
20. Thomas L, De Fazio and Daniel E. Whitney, Simplified Generation of All Mechanical Assembly Sequences. IEEE Journal of Robotics and Automation, 1987, 3(6): 640-658.
21. De Fazio J, L, at al, A prototype of feature-based design for assembly, Journal Of Mechanical design, Dec.1993, 115: 723-734.
22. Homen de Mello L S, Arthur C, Sanderson, And/or Graph Representation of Assembly Plans IEEE Transaction on Robotics and Automation, 1990,6(2):188-199.
23. Wolter J D, on the automatic generation of assembly plan, IEEE International Conference on Robotics and
Automation, 1989, 62-68.
24．张钹，张铃，求解机械装配规划的新方法．计算机学报．1991，8：561-569．
25．徐家球，汪劲松，邱述斌等．装配顺序的与或图生成算法研究．机械工程学报 1994，30(4)：36-41．
26. Chang K H and Wee W G. A knowledge based planning system for mechanical assembly plans. IEEE expert, 1988，3(1): 18-33.
27．蔡自兴．一个机器人柔性装配规划系统．机器人．1990，12(6)：1-9．
28. Zhang W X. Representation of assembly and automatic robot planning by Petri net, IEEE Transaction on System, Man, and Cybernetics, 1989, 19(2): 418-422.
29．扬文源，澎湃然，基于知识petri网的机器人装配规划 机器人，1994，16(6)：357-361
30. Roche lean D and Leek, System for interactive assembly modeling, CAD, 1987,19(2): 65-72.
31. Yokota K and Brough D R, Assembly/disassembly sequence planning. Assembly automation, 1992,12(3): 31-38
32. Cho D Y, Shin C K and Cho H S. Automatic inference on stable rob(?)c. assembly sequences based upon the evaluation of base assembly motion instability. Robotic 1993,11:351-362
33. Shin C K and cho H S. On the generation of robotic assembly sequences based on separability and assembly motion stability. Robotic, 1994,12:7-15
34. Pearl P and Lisa P, Assembly planning using case adaptation methods, IEEE international conference on robotics and automation, 1995, 6: 982-987
35. Johnson P T, Nimal N and keith D B. Boundary models for assembly knowledge representation, IEEE Transactions on Robotics and Automation, 1996,12(2): 302-312
36. Mullins SH and Anderson DC. Automatic identification of geometric constraints in mechanical assemblies. Computer aided design. 1998, 30(9): 715-726.
37. Venurinod P K. Automated analysis of 3-D polyhedral assembly directions and sequences. Journal of manufacturing system. 1995, 12(3): 246-252.
38. Achim S. Fbian.S. Detecting geometric infeasibility Artificial intelligence, 1998, 105:139-159
39．张建标，唐荣锡等。装配顺序的生成算法研究，机械工程学报，1999，35(5)：58-61
40. Goutipolu R B and Ghosh K, An integrated approach to the generation of assembly sequences, Int, J, Of computer application in technology, 1995,8(3/4): 125-138
41. Ko H and Lee K, Automatic assembling procedure generation from mating conditions, Computer-Aided Design, 1987, 119(1): 3-10
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