关键词: 柔性装配系统, 装配工作站, 装配规划

Abstract: Assembly sequence planning in flexible assembly system (FAS) design is studied. Through calculating the cut-sets of assembly liaison graph, assembly sequences is generated by using the decomposition feasibility and the feasible decomposition path, and assembly sequences is represented in the form of AND/OR graph. The robotic assembly workstations layout is studied. The layout procedure regards the poses of the highest probability of successful robotic assembly as assembly points, and the minimum error poses as grasp points. Through adjusting the assembly and grasp points properly, the total distance traveled by robot can be reduced. As short as possible, so that the reasonable layout of robotic workstations is obtained.

Key words: Assembly planning, Assembly workstation, Flexible assembly system