In cellular production line (CPL), inter-cell machining and transportation of "exception" parts may lead to equipment sharing, logistic, and process route inter-crossing. More attention paid to such special problems can greatly help solve cellular layout. Based on material logistic analysis, some key technologies orienting CPL layout are studied from the viewpoint of application: (1) material logistic patterns of CPL are modularized, (2) statistic of logistic flow rate on main transportation channels and between machines is presented, and (3) measures of layout adjustment including equipment adding, equipment substituting, equipment sharing, and cell adjustment under the general objective of minimizing logistic cost are analyzed. A numerical example is given, and guiding results for CPL layout are summarized.

：Pipe routing design is an important stage of the pipe manufactory in complex products.To make the pipe routing design more efficient and down the rework rate, an automatic pipe routing and optimization technology based on engineering constraints is introduced in this paper.An automatic pipe routing method which integrate motion planning technology and heuristic algorithm is carried out to design the layout of the pipe system.After the rough design, a pipe routing knowledge database is set up based on first-order predicate calculus.By using the knowledge database, the quality of the pipe routing design is assessed to generate the diagnosis information of pipe routing.The designer can optimize the pipe routing result based on the diagnosis information.By the end, a prototype is developed to validate the method.

针对基准体系、公差类型、附加符号等几何公差信息设计不规范的问题,提出基于多色集合理论的几何公差信息推理及其规范性验证方法。首先根据构建的几何公差本体模型,提出几何公差信息推理层次结构,并建立了该推理层次结构的多色集合模型。然后根据新一代产品几何规范,提炼了推理层次结构中不同层次信息之间的映射关系,形成了几何公差信息推理围道矩阵。在此基础上,通过分析基准约束的自由度方向,判断是否存在基准冗余和基准顺序不一致等问题,验证了基准体系的规范性;基于围道矩阵以及推导的几何公差信息推理算法,经过两步推理得到了适用的公差类型、附加符号,验证了几何公差设计结果的规范性。基于上述模型和算法开发了几何公差信息规范性验证软件模块,通过实例分析,证明了所提方法的可行性与有效性。

To improve the quality and reliability of complex aerospace products,by combining with the engineering practice in pipeline design and manufacture,an integrated digital pipeline routing,manufacturing and inspection method was proposed.The technical framework and integrated application of this method were analyzed,and four key technologies included pipeline routing and automatic evaluation,pipeline bending quality prediction and inspection,pipe integrated digital manufacturing technology and process database establishment,digital measure approach based on multi-ocular were elaborated.Through the application in Beijing satellite manufactory,the effectiveness of proposed method was proved.With the further development of the proposed method,the integrative full digital pipeline design and manufacture would be accomplished.

一直以来，国内外都将提高制造业和国防企业的快速响应能力作为国家战略实施计划的主要目标之一。本文在分析目前快速响应制造技术发展形势的基础上，给出快速响应制造技术的内涵和体系结构，总结了快速响应制造技术的基本特征，并详细论述快速响应制造技术的基础理论和实现技术，最后讨论了快速响应制造技术的共性关键技术，并指出其未来发展和定位。

Selective disassembly sequence planning is one of the most important stages in product repairing and recycling. Due to the lack of generalization of existing methods, a motion planning based selective disassembly sequence planning method is proposed. Aiming at the feature of huge amount and irregular shapes of complex product parts, a motion planning method based on dynamic self-adapted multiple trees based rapidly-exploring random tree(RRT) algorithm is introduced to plan the disassembly path of the parts initially. Based on that, a hierarchical structure of the assembly is generated which leads to the generation of the disassembly constraint relationship graph of all the assembly parts. By analysis of the generated graph, the disassembly sequence of selected part can be obtained. Results from test on a part from a complex chassis assembly validate this approach.

建模是制约复杂制造系统仿真快速实施的瓶颈,当前广泛实施的集成制造系统建模效率更是有待提高.针对该问题,从数据驱动的角度展开研究,从数据模型、控制模型和自动化模型构建3个层次说明数据驱动的快速建模方法:1)面向集成制造系统,提出了以公共数据区为核心的统一数据结构和数据驱动机制;2)划分了车间、单元和设备3层次递阶控制结构,说明了它们对应的控制器机制及其对应的仿真控制规则;3)基于公共数据区,开发数据存取接口以及自动模型生成器,实现了数据驱动的自动模型生成.在eM-Plant仿真软件中通过二次开发实现了该模型,并以某企业多型号产品为例对模型进行了应用研究,验证了模型不仅具有快速构建的特点,而且具有很高的适应性,有推广应用价值.

The real-time assembly simulation of cables is challenging due to the complex topology and flexibility of cables. A multi-branch mass-spring model is proposed to deal with the difficulties. In which the tense and bending characteristic of cable could be dealt with and the point connecting cable branches are added to help express cable harness with complex topology. A solution combining control theory and kinematics is presented. In the solution an experiential formula is fitted with the help of control variable method to ensure the cable's length is same and an arithmetic fixing the position of particular mass points is presented to simulate the deformation when cables are bundled up. In collision detection for cable, spherical bounding box is used to build up the collision model of cable, and the more accurate collision point could be got in real time by dividing the collision model into more accurate expression and eliminating redundant collision. A prototype system based on the multi-branch mass-spring model is developed, in which assembly simulation of cable is carried out and the key techniques and presented solution are validated.

针对机电产品中电缆布局设计中没有考虑物理特性导致电缆取样长度不准确的问题,提出了虚拟环境中基于物理特性的电缆布局设计方法.首先使用非均匀三次B样条曲线拟合电缆中心线,并考虑电缆的弯曲半径,使电缆在拐角处的转弯半径符合其物理特性;然后采用能量优化造型法得到电缆调整过程中的静态位姿,并利用定长约束下搜索算法对求解结果进行优化;最后提出利用局部曲率约束算法控制电缆的弯曲变形,使电缆布局时更符合其弯曲特性.由于该方法考虑了柔性电缆的物理特性,提高了电缆布局结果形态的真实性和取样长度的准确性.最后设计并开发了基于物理特性的电缆布局设计原型系统,并通过实例验证了文中算法的可行性.

The design work of motional cable in products is vital due to the difficulty in estimating the potential issues in current researches. In this paper, a physics-based modeling and simulation method for the motional cable harness design is presented. The model, based on continuum mechanics, is established by analyzing the force of microelement in equilibrium. During the analysis procedure, three coordinate systems: inertial, Frenet and main-axis coordinate systems are used. By variable substitution and dimensionless processing, the equation set is discretized by differential quadrature method and subsequently becomes an overdetermined nonlinear equation set with boundary conditions solved by Levenberg-Marquardt method. With the profile of motional cable harness obtained from the integral of arithmetic solution, a motion simulation system based on "path" and "profile" as well as the experimental equipments is built. Using the same parameters as input for the simulation and the real cable harness correspondingly, the issue in designing, such as collision, can be easily found by the simulation system. This research obtains a better result which has no potential collisions by redesign, and the proposed method can be used as an accurate and efficient way in motional cable harness design work.

装配特征之间的变动解析是产品装配偏差累积分析的重要基础,针对现有研究成果未考虑零件间装配特征定位顺序对配合间隙影响的问题,提出一种定位优先级约束下间隙配合的变动解析模型与装配成功率计算方法.建立了两个零件之间多基准装配的数学模型,并分析装配特征在配合前相对于装配名义位置的变动.通过对平行平面配合、圆柱面配合、圆锥面配合以及球面配合等四类间隙配合的接触状态进行分析,得到装配基准特征与装配目标特征在配合后相对装配名义位置变动所需满足的约束条件.在此基础上提出定位优先级约束下的装配特征之间的配合变动算法,并给出包含多组装配特征配合的两零件之间的装配成功率的计算方法.以一种测量仪器结构的装配为实例,验证了上述方法的可行性.

Assembly path planning is a crucial problem in assembly related design and manufacturing processes. Sampling based motion planning algorithms are used for computational assembly path planning. However, the performance of such algorithms may degrade much in environments with complex product structure, narrow passages or other challenging scenarios. A computational path planner for automatic assembly path planning in complex 3D environments is presented. The global planning process is divided into three phases based on the environment and specific algorithms are proposed and utilized in each phase to solve the challenging issues. A novel ray test based stochastic collision detection method is proposed to evaluate the intersection between two polyhedral objects. This method avoids fake collisions in conventional methods and degrades the geometric constraint when a part has to be removed with surface contact with other parts. A refined history based rapidly-exploring random tree (RRT) algorithm which bias the growth of the tree based on its planning history is proposed and employed in the planning phase where the path is simple but the space is highly constrained. A novel adaptive RRT algorithm is developed for the path planning problem with challenging scenarios and uncertain environment. With extending values assigned on each tree node and extending schemes applied, the tree can adapts its growth to explore complex environments more efficiently. Experiments on the key algorithms are carried out and comparisons are made between the conventional path planning algorithms and the presented ones. The comparing results show that based on the proposed algorithms, the path planner can compute assembly path in challenging complex environments more efficiently and with higher success. This research provides the references to the study of computational assembly path planning under complex environments.

The model in current virtual assembly system is main geometrical model,and virtual assembly is deficient in the consideration about physical attribute,like mass and force so that the simulation result is inauthentic.Aiming at the problems above,the method on physical assembly process simulation based on multi-rigid-body dynamics in virtual assembly is presented so that assembly process simulation for parts with force input in virtual assembly is realized.The realization method of three key technologies in the method is described in detail: The technology of physical attribute modeling for physical assembly process simulation,the method of multi-rigid-body dynamics mathematic modeling and the method of rigid-body collision process simulation and analysis in virtual assembly.The method is implemented in proto-type system virtual assembly process planning(VAPP) and is validated through some examples.

Aiming at the collaborative characteristics such as multi-level,multiple conflicts and multiple iterations of complex products,a development process model of dynamic response was set up based on dependency network between index parameters.The analysis method for dependency relationship between index parameters was put forward,and this relationship was classified into brotherhood relationship and father-son relationship.Oriented to these two relationships,the dependency relationship analysis method between brotherhood based on design structure matrix and the dependency relationship analysis method between top-down father-son based on incident matrix were proposed respectively.A dependency relationship net for index parameters was built.Based on drive of data and information,the execution mechanism of development process for multi-disciplinary was proposed.An instance of T/ R module was illustrated to verify the dynamic response development process.

Product demand is a main factor influencing formation and reconfiguration of manufacturing cell (MC) especially when lifespan of the formed MCs is considered. It is also the most important factor for formation of mixed style of manufacturing cell (MSMC) in mixed style of production line (MPL) where developing and developed products coexist. Against the problem of MPL formation and its adjustment, the concept of MSMC is advanced. Then, a uniform formation frame covering rules, constraints, and objectives of different styles of MC is constructed and a heuristic algorithm for resource capacity allocation is used for solution. Next, an inheritable reconfiguration method of MC is analyzed for actual application of periodic task adjustment. At last, above formation and reconfiguration algorithm of MSMC under product prediction is validated by computational study.

To realize the information sharing of different disciplines in complex product development process, and to eliminate the obstacles of system integration, collaborative simulation and system optimization, a digital prototype construction method based on ontology meta-model was put forward. The feasibility of integrated modeling based on ontology meta-model were analyzed and a core package for meta-model by using extended model of UML was constructed. Based on the ontology theory, the concepts and their relationships in complex product collaborative development domain were analyzed, and information integration framework of multi-disciplinary collaborative domain was established. The digital prototype model which covered product information, development method information and development process information was built based on ontology meta-model. The abstract evaluation, granularity decomposition and multi-disciplinary coordination of complex product in development process were supported by proposed models. The active phased array radar was used to illustrate the models.

Collision detection is critical for collaborative assembly simulation to assist design processing. However, collisions between polygonal models may not reflect collisions between real objects in reality because of polygonal approximation and designed tolerance. This problem reduces the reliability of simulation in collaborative assembly and sometimes even results in wrong conclusions. To solve the problem, we propose a novel collision evaluation algorithm based on generalized penetration depth, approximation information, and tolerance information. Given two interfered polygonal models, generalized penetration depth is calculated using relative motion information. Then two thresholds, which are based on approximation information and tolerance information, are integrated to evaluate collisions between polygonal models. In order to distinguish the status of collisions for further analysis, the collisions between polygonal models are categorized into three types by evaluation algorithm, namely real collision, potential collision, and fake collision. Computational efficiency and accuracy of the evaluation algorithm are verified in a virtual collaborative assembly environment.

This paper represents a hierarchical pipe system disassembly method by using dynamic self-adaptive tree (DSAT) based motion planning to perform disassembly for a complex pipe system. A pipe system CAD model is prepared initially to indicate the environment of the disassembly procedure. The improved motion planning method provides basic algorithm support for indicating the feasible escape path of a single part. Our technic gradually reduces the complexity of the pipe system to generate a hierarchical structure which takes all geometric information of the system. The hierarchical structure is preserved and used for the generation of a disassembly relationship graph which indicates the feasible disassembly sequences.

To solve the problems such as unreasonable assembly planning,tough dynamic scheduling,lacking of process monitoring and information management tools in complex product assembly,the visual production scheduling technology was proposed.By analyzing the characteristic of complex product assembly process,the visual modeling method of assembly process based on workflow was presented,and the scheduling model of complex product assembly was raised on the basis of assembly process model.Aiming at the assembly plan scheduling,heuristic scheduling algorithm was proposed.Aiming at the disturbance problem,the dynamic scheduling algorithm was raised.Furthermore,visual assembly scheduling method and information management method were discussed,and visual monitoring of assembly process,dynamic scheduling as well as scheduling information management were realized.The proposed technology and method were proved effectively by actual applications.

针对目前活动线缆布线设计过程中的布线方法落后及布线结果难以验证的问题,在基于弹性细杆的活动线缆物性模型的基础上,提出一种分布力作用下的活动线缆物性建模方法。该方法将方程组经过变量代换及无量纲化后,利用微分求积法对其进行离散,并采用直接添加约束方程的方法处理边界条件,得到一组超定非线性方程组,之后采用Levenberg-Marquardt方法对该方程组进行迭代求解。建立了实验验证装置,通过算例与实验对照分析,证明了该模型能够较为准确地表达活动线缆的物理性质。在此基础上开发了活动线缆计算机辅助设计与优化系统,给出了系统应用流程和验证效果。