面向机翼的装配顺序规划技术研究
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摘要
装配序列规划问题本质上是一个NP组合优化难题(Nondeterministic polynomial Problem)，因此很难得到一个满足装配要求的装配序列，从而使装配序列规划成为提高产品精度、降低生产周期及成本的瓶颈环节。本文在分析飞机机翼装配特点的基础上，完成了虚拟装配系统中装配顺序规划模块的设计与实现，并对基于遗传算法及模糊集理论的装配序列规划技术进行了深入研究，主要研究内容包括：
1．调研并分析了装配关系、装配动作、装配方向等飞机装配的主要内容，总结了机翼装配的特点及流程；
2．对产品装配序列规划的内容进行了探讨，提出了本文所采用的装配序列生成方法——基于遗传算法的装配序列规划方法；
3．充分考虑在装配序列规划过程中所涉及到的装配动作、装配工夹具与装配方向等各方面因素，采用基因组的编码方法对装配信息进行编码；
4．提出基于模糊集的评价方法对生成的装配序列进行评价，使用模糊集的原理对适应度函数中的参数进行赋值，提高适应度函数的精确度，加快遗传算法的收敛速度；
5．基于CATIAV5和CAA FOR CATIA V5，设计了面向机翼的基于遗传算法的装配顺序规划模块，并完成了主要功能的开发。
The problem of assembly sequence planning (ASP) is a kind of NP optimization problems, so it is very difficult to find an assembly sequence which can achieve the assembly request. Therefore, assembly sequence planning had been becoming the bottleneck of reducing the cost and shortening the production time of a product. The technique of virtual assembly can quickly evaluate and optimize the assembly plan by simulating the assembling procedure; it also can achieve the product design, assembly process planning, functional analysis and quality testing adopting computer simulation and 3D interactive visual model. ASP is a key technique of virtual assembly. In this thesis, a system planning of assembly sequence planning module in Virtual Assembly system is proposed which is based on analyzing the characteristic of airfoil assembly and assembly design. The core techniques of assembly sequence planning which based on genetic algorithm and fuzzy set theory are investigated in detail. Main research work and achievements are as follows:
1. Researches and analyzes aircraft assembly design task, such as assembly methods, assembly action and assembly direction etc. Summarizes the characteristics and workflow of wing assembly design.
2. The assembly sequence planning of product is discussed. The paper presents the method - assembly sequence planning based on genetic algorithm, which is adopted by the module.
3. The genetic algorithm adopted the encode method of gene-group, expressed the assembly information of parts such as assembly actions, assembly tools, assembly fixtures and assembly directions, etc.
4. The method proposed fuzzy set-based fitness function, by which can judge and optimize the assembly sequence planning.
5. Based on CATIA V5 CAD Software and CAA FOR CATIA V5 Toolbox, designed and developed a module for airfoil's assembly sequence planning.
1．调研并分析了装配关系、装配动作、装配方向等飞机装配的主要内容，总结了机翼装配的特点及流程；
2．对产品装配序列规划的内容进行了探讨，提出了本文所采用的装配序列生成方法——基于遗传算法的装配序列规划方法；
3．充分考虑在装配序列规划过程中所涉及到的装配动作、装配工夹具与装配方向等各方面因素，采用基因组的编码方法对装配信息进行编码；
4．提出基于模糊集的评价方法对生成的装配序列进行评价，使用模糊集的原理对适应度函数中的参数进行赋值，提高适应度函数的精确度，加快遗传算法的收敛速度；
5．基于CATIAV5和CAA FOR CATIA V5，设计了面向机翼的基于遗传算法的装配顺序规划模块，并完成了主要功能的开发。
The problem of assembly sequence planning (ASP) is a kind of NP optimization problems, so it is very difficult to find an assembly sequence which can achieve the assembly request. Therefore, assembly sequence planning had been becoming the bottleneck of reducing the cost and shortening the production time of a product. The technique of virtual assembly can quickly evaluate and optimize the assembly plan by simulating the assembling procedure; it also can achieve the product design, assembly process planning, functional analysis and quality testing adopting computer simulation and 3D interactive visual model. ASP is a key technique of virtual assembly. In this thesis, a system planning of assembly sequence planning module in Virtual Assembly system is proposed which is based on analyzing the characteristic of airfoil assembly and assembly design. The core techniques of assembly sequence planning which based on genetic algorithm and fuzzy set theory are investigated in detail. Main research work and achievements are as follows:
1. Researches and analyzes aircraft assembly design task, such as assembly methods, assembly action and assembly direction etc. Summarizes the characteristics and workflow of wing assembly design.
2. The assembly sequence planning of product is discussed. The paper presents the method - assembly sequence planning based on genetic algorithm, which is adopted by the module.
3. The genetic algorithm adopted the encode method of gene-group, expressed the assembly information of parts such as assembly actions, assembly tools, assembly fixtures and assembly directions, etc.
4. The method proposed fuzzy set-based fitness function, by which can judge and optimize the assembly sequence planning.
5. Based on CATIA V5 CAD Software and CAA FOR CATIA V5 Toolbox, designed and developed a module for airfoil's assembly sequence planning.
引文
[1] Warneck H J, Walter J. Automatical assembly - state of the art. Processings of the 3rd International conference on Automation, Boeblingfen, Stuttgart, W. Germany, May, 1982:1-4
[2] Riley Frank J. Assembly Automation - A management handbook. Industrial press, New York, 1987
[3] 王启平．机械制造工艺学．哈尔滨工业大学出版社，1988
[4] Hemom De Mello L S, Sanderson A C. Automatic generation of mechanical assembly sequences. Proceedings of the 1989 IEEE International Conference on Rovotics and Automation, Scottodale, May, 1989:55-61
[5] Boujault A. Contribution à une approche méthodilogique de l'assemblage automatism: laboration automatique des sequences opératiores. Thése d' tat, Université de Franche - Counté Besancon, France, 1984
[6] Homem De Mello L S, Lee S K. Computer aided mechanical assembly planning. Kluwer Academic Publishers, Boston, 1991
[7] Homem De Mello L S, Sanderson A C. AND/OR graph representation of assembly plans.IEEE Trans. Robotics and Automation, 1990; 6(2): 188-199
[8] Homem De Mello L S, Sanderson A C. Evaluation and selection of assembly plans. Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990; 3:1588-1593
[9] Laperrière L, Eimaraghy H A. Planning of products assembly and disassembly. Annals of the CIRP, 1992;41(1):5-9
[10] Laperrière L, Elmaraghy H A. GAPP: A Generative assembly process planner. Journal of Manufacturing Systems, 1996; 15(4):282-293
[11] Huang Y F, Lee C S G. precedence Knowledge in feature mating operation assembly planning. Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989; 2:216-221
[12] Lee Sukan, Shin Yeong Gil. Assembly planning based on subassembly extraction. Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990; 3:1606-1611
[13] Ko H, Lee K. Automatical assembling procedure generation from mating conditions. Computer Aided Design, 1987; 19(1):3-10
[14] Chang K H, Wee W G. A knowledge-based planning system for mechanical assembly using robots. IEEE Expert, 1988; 3(1): 18-33
[15] Tonshoff H K, Menzel E, Park H S. A knowledge-based system for automated assembly planning. Annals of the CIRP, 1992; 41(1):19-24
[16] 汪熙伟，张申生等．基于Pro／E的产品装配建模系统．计算机辅助工程，1997；(11)：16-22
[17] 侯晓林等．面向并行工程的产品装配模型和虚拟制造技术的研究．计算机辅助设计与制造，1997；(11)：14-16
[18] 莫建中等．装配的语义网络建模及其在DFA中的应用．机械科学与技术，1996；15(6)：993-996
[19] 康有树等．计算机辅助装配轨迹规划．机械科学与技术，1996；15(4)：651-655
[20] 姜华，张新访等．基于配合特征的机械装配自动规划．计算机工程与科学，1996；18(4)：36-41
[21] 王先逵，赵杰．焊接结构装配顺序的自动生成．组合机床与自动化加工技术，1995； (10)：30-33
[22] 常向青，宁汝新．装配拆卸顺序的自动生成与评价方法研究．北京理工大学学报．2001，(5)：567-573
[23] 赵良才，景旭文，唐文献．产品装配顺序生成、DFA分析和装配仿真集成系统研究．机械设计与制造．2001，(4)：29-31
[24] 于艳玮，樊其瑾，彭炎午．装配顺序分层、分布规划方法．制造业自动化．2001，(3)：15-17
[25] 白芳妮，李磊，魏生民．装配顺序生成中装配信息的表示方法研究．中国机械工程．第13卷第14期，2002，(7)：1209-1412
[26] Holland H. Adaptation in Natural and Artificial Systems. MIT Press, 1975
[27] BONNEVILLE F, PERRARD C, HENKIOUD J M. A genetic algorithm to generate and evaluate assembly plans[A] . IEEE Symposium on Emerging Technology and Factory Automation[C] . New Jersey: IEEE Press,1995.231-239
[28] CHEN Shiangfong. Assembly planning - a genetic approach[A] . IEEE Conference on Robotics and Automation[C] . New Jersey: IEEE Press, 1998.307-313
[29] DINI G, FAILI F, LAZZERINI B, et al. Generation of optimized assembly sequences using genetic algorithms[A] . Annals of the CIRP[C] . Berne; CIRP Publishers, 1999, 17-20
[30] 杨鹏，刘继红，管强．面向装配顺序优化的一种改进基因算法．计算机集成制造系统-CIMS，2002
[31] 王云渤，张关康等．《飞机装配工艺学(修订本)》．北京：国防工业出版社，1990
[32] 张文修，梁怡．遗传算法的数学基础[M] ．西安交通大学出版社：2000：P80～132
[33] 周明，孙树栋．遗传算法原理及应用[M] ．北京：国防工业出版社，1999，P18～24
[34] 席裕庚，柴天佑．遗传算法综述．控制理论与应用．1996，13(6)：696～708
[35] P. Krishnakumar, and B. A. Patnaik. Massively parallel genetic algorithm: implementation and first analysis. Proc of the Fourth Intern. Conf. On Genetic Algorithms, Belew, B.K., Booker, L. B., Eds, San Mateo, CA:Morgan Kaumann, 1995:230-236
[36] Lazzerini B, Marcelloni F. A genetic algorithm for generating optimal assembly plans. Artif Intell Eng 2000; 14:319-29
[37] Hong DS, Cho HS. A genetic-algorithm-based approach to the feneration of robotic assembly sequences. Control Eng Practice 1999; 7(2): 151-9
[38] Smith SS-F, Smith GC, Liao XY. Automatic stable assembly sequence generation and evaluation. J Manuf Systems 2001; 20(4): 225-35
[39] Smith SS-F, Smith GC, Liao XY. Automatic stable assembly sequence generation and evaluation. J Manuf Systems 2001; 20(4): 225-35
[40] D. E. Goldberg. Genetic Algorithms in Search, Optimization and Machine Learning. Reading, MA, Addison Wesley. 1989:1～46
[41] C. Chang, M. J. Chung, A. Bien. Collision-Free Motion Planning for Two Articulated Robot Arms Using Minimun Distance Function. Robotica, 1990, 8:137～144
[2] Riley Frank J. Assembly Automation - A management handbook. Industrial press, New York, 1987
[3] 王启平．机械制造工艺学．哈尔滨工业大学出版社，1988
[4] Hemom De Mello L S, Sanderson A C. Automatic generation of mechanical assembly sequences. Proceedings of the 1989 IEEE International Conference on Rovotics and Automation, Scottodale, May, 1989:55-61
[5] Boujault A. Contribution à une approche méthodilogique de l'assemblage automatism: laboration automatique des sequences opératiores. Thése d' tat, Université de Franche - Counté Besancon, France, 1984
[6] Homem De Mello L S, Lee S K. Computer aided mechanical assembly planning. Kluwer Academic Publishers, Boston, 1991
[7] Homem De Mello L S, Sanderson A C. AND/OR graph representation of assembly plans.IEEE Trans. Robotics and Automation, 1990; 6(2): 188-199
[8] Homem De Mello L S, Sanderson A C. Evaluation and selection of assembly plans. Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990; 3:1588-1593
[9] Laperrière L, Eimaraghy H A. Planning of products assembly and disassembly. Annals of the CIRP, 1992;41(1):5-9
[10] Laperrière L, Elmaraghy H A. GAPP: A Generative assembly process planner. Journal of Manufacturing Systems, 1996; 15(4):282-293
[11] Huang Y F, Lee C S G. precedence Knowledge in feature mating operation assembly planning. Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989; 2:216-221
[12] Lee Sukan, Shin Yeong Gil. Assembly planning based on subassembly extraction. Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990; 3:1606-1611
[13] Ko H, Lee K. Automatical assembling procedure generation from mating conditions. Computer Aided Design, 1987; 19(1):3-10
[14] Chang K H, Wee W G. A knowledge-based planning system for mechanical assembly using robots. IEEE Expert, 1988; 3(1): 18-33
[15] Tonshoff H K, Menzel E, Park H S. A knowledge-based system for automated assembly planning. Annals of the CIRP, 1992; 41(1):19-24
[16] 汪熙伟，张申生等．基于Pro／E的产品装配建模系统．计算机辅助工程，1997；(11)：16-22
[17] 侯晓林等．面向并行工程的产品装配模型和虚拟制造技术的研究．计算机辅助设计与制造，1997；(11)：14-16
[18] 莫建中等．装配的语义网络建模及其在DFA中的应用．机械科学与技术，1996；15(6)：993-996
[19] 康有树等．计算机辅助装配轨迹规划．机械科学与技术，1996；15(4)：651-655
[20] 姜华，张新访等．基于配合特征的机械装配自动规划．计算机工程与科学，1996；18(4)：36-41
[21] 王先逵，赵杰．焊接结构装配顺序的自动生成．组合机床与自动化加工技术，1995； (10)：30-33
[22] 常向青，宁汝新．装配拆卸顺序的自动生成与评价方法研究．北京理工大学学报．2001，(5)：567-573
[23] 赵良才，景旭文，唐文献．产品装配顺序生成、DFA分析和装配仿真集成系统研究．机械设计与制造．2001，(4)：29-31
[24] 于艳玮，樊其瑾，彭炎午．装配顺序分层、分布规划方法．制造业自动化．2001，(3)：15-17
[25] 白芳妮，李磊，魏生民．装配顺序生成中装配信息的表示方法研究．中国机械工程．第13卷第14期，2002，(7)：1209-1412
[26] Holland H. Adaptation in Natural and Artificial Systems. MIT Press, 1975
[27] BONNEVILLE F, PERRARD C, HENKIOUD J M. A genetic algorithm to generate and evaluate assembly plans[A] . IEEE Symposium on Emerging Technology and Factory Automation[C] . New Jersey: IEEE Press,1995.231-239
[28] CHEN Shiangfong. Assembly planning - a genetic approach[A] . IEEE Conference on Robotics and Automation[C] . New Jersey: IEEE Press, 1998.307-313
[29] DINI G, FAILI F, LAZZERINI B, et al. Generation of optimized assembly sequences using genetic algorithms[A] . Annals of the CIRP[C] . Berne; CIRP Publishers, 1999, 17-20
[30] 杨鹏，刘继红，管强．面向装配顺序优化的一种改进基因算法．计算机集成制造系统-CIMS，2002
[31] 王云渤，张关康等．《飞机装配工艺学(修订本)》．北京：国防工业出版社，1990
[32] 张文修，梁怡．遗传算法的数学基础[M] ．西安交通大学出版社：2000：P80～132
[33] 周明，孙树栋．遗传算法原理及应用[M] ．北京：国防工业出版社，1999，P18～24
[34] 席裕庚，柴天佑．遗传算法综述．控制理论与应用．1996，13(6)：696～708
[35] P. Krishnakumar, and B. A. Patnaik. Massively parallel genetic algorithm: implementation and first analysis. Proc of the Fourth Intern. Conf. On Genetic Algorithms, Belew, B.K., Booker, L. B., Eds, San Mateo, CA:Morgan Kaumann, 1995:230-236
[36] Lazzerini B, Marcelloni F. A genetic algorithm for generating optimal assembly plans. Artif Intell Eng 2000; 14:319-29
[37] Hong DS, Cho HS. A genetic-algorithm-based approach to the feneration of robotic assembly sequences. Control Eng Practice 1999; 7(2): 151-9
[38] Smith SS-F, Smith GC, Liao XY. Automatic stable assembly sequence generation and evaluation. J Manuf Systems 2001; 20(4): 225-35
[39] Smith SS-F, Smith GC, Liao XY. Automatic stable assembly sequence generation and evaluation. J Manuf Systems 2001; 20(4): 225-35
[40] D. E. Goldberg. Genetic Algorithms in Search, Optimization and Machine Learning. Reading, MA, Addison Wesley. 1989:1～46
[41] C. Chang, M. J. Chung, A. Bien. Collision-Free Motion Planning for Two Articulated Robot Arms Using Minimun Distance Function. Robotica, 1990, 8:137～144