変形物体を含む製品の組立作業計画を考慮した三次元CADモデルからの組立順序生成

抄録

This paper tackles assembly sequence generation considering two trade-off objectives; one is insertion conditions and the other is degrees of constraint among assembled parts. The multi-objective genetic algorithm is used to balance the two objectives needed for planning of robotic assembly. Furthermore, the method of extracting parts relation matrices is extended for applying to 3D CAD models including deformable parts. Our simulation experiment using the proposed method shows a possibility of obtaining pareto optimal solutions of assembly sequences for a 3D CAD model with 33 parts including a deformable part.