分布环境下的协同装配序列规划
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摘要
作为并行工程和计算机集成制造中的关键支撑技术,计算机辅助装配规划是产品数
字化预装配的核心问题,也是决定产品生产成本的重要因素。随着装配体中零部件数量
的增加,装配规划变得更加困难;另外,网络化制造模式的形成需要协同预装配技术的
支持。为此,本文提出了网络分布环境下面向装配的协同设计集成框架,研究了复杂产
品的协同装配序列规划方法。
在分析产品装配结构设计过程和协同规划对装配模型的信息需求基础上,提出包含
装配设计意图、过程和结果的面向协同规划的复杂产品装配建模思想。研究并建立了基
于装配结的装配联系图模型和基于共享零件的产品局部结构规划层次树模型,阐明了协
同装配序列规划模型中零件信息、装配信息和协同管理信息的内容和组成。
为了对产品结构进行装配序列规划,提出了装配序列蚁群优化方法,实现了采用拆
卸策略的装配序列产生和优化。提出拆卸完全图来隐式、动态地表达序列空间,将初始
可行的拆卸操作设置为搜索起始点,用集成拆卸矩阵进行装配过程几何推理,从而生成
拆卸操作候选列表来限制搜索的范围,保证了构建序列的可行性。讨论了算法的特点,
并和其它智能装配优化方法进行了比较和分析。
以规划结构层次树模型为参考、共享零件为联系,研究了自下而上的局部装配序列
调整、合并、冗余约束处理和搜索的序列综合过程。讨论了局部装配序列的调整规则,
提出了不同规划结构间零件全局装配优先关系的空间阻碍图表达,给出了清除合并序列
中冗余约束信息的算法。基于建立的装配经验知识库,通过对序列综合后形成的装配优
先图进行搜索获得产品的装配序列参考方案。
面向网络分布环境下多用户装配方案协同决策的需求,提出了协同装配活动五元组
模型。详细讨论了装配操作权控制的令牌模型、复制式协同装配场景的同步维护和基于
事件的协同装配通讯协议描述、传递和解析等协同装配活动机制。通过分离装配应用模
型和可视化模型,提出了网络环境下基于装配主模型的干涉检查模式。研究了静态文件
-动态模型方式的多用户协同装配可视化方法。
给出了支持协同装配序列规划原型系统的体系结构,利用 VC++、Java、VRML、
Socket 技术和 Protoolkits、Open API 开发工具包实现了面向协同规划的装配建模、装配
序列蚁群优化、装配序列综合和协同装配网络平台等功能模块,用实例产品验证了研究
成果的正确性和有效性。文末对全文进行了总结,展望了进一步的研究工作。
As the key supporting technology of concurrent engineering and computer integrated
manufacturing, computer aide assembly planning is one of the important issues to digital
pre-assembly that determines the production cost to a great extent. Along with the increase of
parts in products, assembly sequence planning is more and more difficult. In addition, the
networked manufacturing pattern requires collaborative pre-assembly technology. So a
distributed and integrated framework for cooperative design for assembly is presented, and
the collaborative assembly sequence planning method for complex products is investigated.
Based on analysis of general assembly configuration design and information
requirements of assembly model for collaborative sequence planning, the idea of assembly
modeling that contains intents, process and results of assembly design is put forward. A
knot-based assembly relation graph and a shared-part-based hierarchical tree of local product
structures for sequence planning are investigated and constructed. The information of parts,
knots and management, which are the elements of assembly model for collaborative sequence
planning, is clarified.
An ant colony system based cooperative algorithm is presented and realized for assembly
sequence generation and optimization of local structures adopting assembly by disassembly
scheme. In the algorithm, the implicit sequence space is built dynamically by disassembly
complete graph and the starting nodes are set on initially feasible disassembly operations. The
geometric feasibility reasoning of assembly process based on integrated disassembly matrix is
used to restrict the search and ensure the validity of sequences. The characteristics of the
algorithm are discussed and the comparisons to other intelligent assembly optimization
algorithms are analyzed.
According to the hierarchical tree, the synthesis process of local sequences based on
shared parts involving adjustment, combination, elimination of redundant constraints, and
search of sequences in a bottom-to-up manner is investigated. The adjustment rules to local
sequences are discussed. A spatial blocking graph is proposed to express global assembly
precedence relations among parts of different local structures, and an algorithm to erase the
redundant information in merged sequences is given. The reference product assembly
sequences are gained by searching the resulted precedence graph of products based on the
founded assembly experience and knowledge repository.
Aiming at the collaborative decision making of assembly scheme under networked
II
environment among disperated multi-users, a 5-tuple model of collaborative assembly activity
is proposed. The mechanisms comprising a token model of operation right, replicative
synchronization of virtual scene, and the description, transfer, and parsing of collaborative
assembly communication protocol based on assembly operation event are discussed in details.
By separating application and visualization aspects, a master assembly model based collision
check mode is given to suit assembly activities under networked environments. A static
document and dynamic model method of assembly visualization for multi-clients is
expatiated.
The general architecture of prototype system for collaborative assembly sequence
planning and decision-making is given. By using VC++, Java, VRML, Socket, Protoolkits,
and Open API, four functional models including assembly modeling for collaborative
sequence planning, ant colony assembly sequence optimization, assembly sequence synthesis,
and networked platform for collaborative assembly decision are implemented. The practical
product assemblies are used to validate the correctness and effectiveness of the research
results. In the end of the dissertation, conclusions have been drawn and the future directions in
the field are given.
字化预装配的核心问题,也是决定产品生产成本的重要因素。随着装配体中零部件数量
的增加,装配规划变得更加困难;另外,网络化制造模式的形成需要协同预装配技术的
支持。为此,本文提出了网络分布环境下面向装配的协同设计集成框架,研究了复杂产
品的协同装配序列规划方法。
在分析产品装配结构设计过程和协同规划对装配模型的信息需求基础上,提出包含
装配设计意图、过程和结果的面向协同规划的复杂产品装配建模思想。研究并建立了基
于装配结的装配联系图模型和基于共享零件的产品局部结构规划层次树模型,阐明了协
同装配序列规划模型中零件信息、装配信息和协同管理信息的内容和组成。
为了对产品结构进行装配序列规划,提出了装配序列蚁群优化方法,实现了采用拆
卸策略的装配序列产生和优化。提出拆卸完全图来隐式、动态地表达序列空间,将初始
可行的拆卸操作设置为搜索起始点,用集成拆卸矩阵进行装配过程几何推理,从而生成
拆卸操作候选列表来限制搜索的范围,保证了构建序列的可行性。讨论了算法的特点,
并和其它智能装配优化方法进行了比较和分析。
以规划结构层次树模型为参考、共享零件为联系,研究了自下而上的局部装配序列
调整、合并、冗余约束处理和搜索的序列综合过程。讨论了局部装配序列的调整规则,
提出了不同规划结构间零件全局装配优先关系的空间阻碍图表达,给出了清除合并序列
中冗余约束信息的算法。基于建立的装配经验知识库,通过对序列综合后形成的装配优
先图进行搜索获得产品的装配序列参考方案。
面向网络分布环境下多用户装配方案协同决策的需求,提出了协同装配活动五元组
模型。详细讨论了装配操作权控制的令牌模型、复制式协同装配场景的同步维护和基于
事件的协同装配通讯协议描述、传递和解析等协同装配活动机制。通过分离装配应用模
型和可视化模型,提出了网络环境下基于装配主模型的干涉检查模式。研究了静态文件
-动态模型方式的多用户协同装配可视化方法。
给出了支持协同装配序列规划原型系统的体系结构,利用 VC++、Java、VRML、
Socket 技术和 Protoolkits、Open API 开发工具包实现了面向协同规划的装配建模、装配
序列蚁群优化、装配序列综合和协同装配网络平台等功能模块,用实例产品验证了研究
成果的正确性和有效性。文末对全文进行了总结,展望了进一步的研究工作。
As the key supporting technology of concurrent engineering and computer integrated
manufacturing, computer aide assembly planning is one of the important issues to digital
pre-assembly that determines the production cost to a great extent. Along with the increase of
parts in products, assembly sequence planning is more and more difficult. In addition, the
networked manufacturing pattern requires collaborative pre-assembly technology. So a
distributed and integrated framework for cooperative design for assembly is presented, and
the collaborative assembly sequence planning method for complex products is investigated.
Based on analysis of general assembly configuration design and information
requirements of assembly model for collaborative sequence planning, the idea of assembly
modeling that contains intents, process and results of assembly design is put forward. A
knot-based assembly relation graph and a shared-part-based hierarchical tree of local product
structures for sequence planning are investigated and constructed. The information of parts,
knots and management, which are the elements of assembly model for collaborative sequence
planning, is clarified.
An ant colony system based cooperative algorithm is presented and realized for assembly
sequence generation and optimization of local structures adopting assembly by disassembly
scheme. In the algorithm, the implicit sequence space is built dynamically by disassembly
complete graph and the starting nodes are set on initially feasible disassembly operations. The
geometric feasibility reasoning of assembly process based on integrated disassembly matrix is
used to restrict the search and ensure the validity of sequences. The characteristics of the
algorithm are discussed and the comparisons to other intelligent assembly optimization
algorithms are analyzed.
According to the hierarchical tree, the synthesis process of local sequences based on
shared parts involving adjustment, combination, elimination of redundant constraints, and
search of sequences in a bottom-to-up manner is investigated. The adjustment rules to local
sequences are discussed. A spatial blocking graph is proposed to express global assembly
precedence relations among parts of different local structures, and an algorithm to erase the
redundant information in merged sequences is given. The reference product assembly
sequences are gained by searching the resulted precedence graph of products based on the
founded assembly experience and knowledge repository.
Aiming at the collaborative decision making of assembly scheme under networked
II
environment among disperated multi-users, a 5-tuple model of collaborative assembly activity
is proposed. The mechanisms comprising a token model of operation right, replicative
synchronization of virtual scene, and the description, transfer, and parsing of collaborative
assembly communication protocol based on assembly operation event are discussed in details.
By separating application and visualization aspects, a master assembly model based collision
check mode is given to suit assembly activities under networked environments. A static
document and dynamic model method of assembly visualization for multi-clients is
expatiated.
The general architecture of prototype system for collaborative assembly sequence
planning and decision-making is given. By using VC++, Java, VRML, Socket, Protoolkits,
and Open API, four functional models including assembly modeling for collaborative
sequence planning, ant colony assembly sequence optimization, assembly sequence synthesis,
and networked platform for collaborative assembly decision are implemented. The practical
product assemblies are used to validate the correctness and effectiveness of the research
results. In the end of the dissertation, conclusions have been drawn and the future directions in
the field are given.
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