A Graph-based framework for assembly sequence planning of a cable harness

被引：3

作者：

Zhou, Hang ^{[1
]}

Lu, Qi ^{[2
]}

Qian, Jinwu ^{[1
]}

机构：

[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China

[2] ABB Engn Shanghai Ltd, Business Res Team, Robot & Discrete Automat, Shanghai 201319, Peoples R China

来源：

JOURNAL OF MANUFACTURING SYSTEMS | 2024年 / 73卷

关键词：

Deformable linear object(DLO); Assembly Sequence planning(ASP); Graph theory; Cable harness; ROBOTIC MANIPULATION; OPTIMIZATION; OBJECTS;

D O I：

10.1016/j.jmsy.2024.01.007

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper focuses on assembly sequence planning (ASP) for cable harness, which is an essential but not yet well -addressed problem for automated cable assembly. A systematic approach is proposed to obtain all feasible assembly sequences taking account of the effects of the topological structure as well as various types of assembly tasks. The cable representation is first extended to consider the assembled relations of tasks along the entire cable. Then, the effects of a typical task on the assembly feasibility of the entire cable are analyzed. Finally, a framework is proposed to generate all feasible assembly sequences for the cable assembly. The proposed framework is verified using typical cable harnesses with single and multi -branches.

引用

页码：39 / 51

页数：13

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