基于遗传算法的机器人装配顺序规划的研究

装配顺序规划对于机器人自动装配的可行性和优化性方面起着重要作用。首先在装配工艺信息的表达、零件装配顺序的染色体表示、装配中约束的分类方法方面进行了研究，并提出将不同类型的约束在遗传算法的不同阶段予以考虑。针对装配零件顺序规划和优化中的具体要求，对遗传算法作了改进，在传统的遗传算法步骤中增加了一个静态约束检测步骤。仿真结果表明该方法是有效的，为机器人自动装配中的装配顺序的自动生成提供技术支持。

Research on Plan of Robotic Assembly Sequence Based on Genetic Algorithm

Sequencing problems are important for an efficient use of assembly lines.Firstly,how to express the information about the process of assembly,and how to represent the sequence in which the parts of a product to be assembled by chromosomes were studied.A method to classify assembly constraints was also given.A novel idea dealing with different kinds of constraints at the different steps of genetic algorithm (GA) was expressed.Traditional GA method was modified to meet the need of planning and optimizing the assembly sequences of the parts.Emulating result shows that the method is valid.This study offers some supporting technology for auto-produce assembly sequence for robotic assembly.