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不同于一般机械产品装配的流程,卫星总装的过程是“拆”“装”操作相结合的,为了解决这一类特殊的非线性装配顺序规划问题,提出了一种基于动态变迁图的装配规划模型。该模型在静态有向连接图的基础上,通过逐层分析和验证可能的状态以动态变迁图为核心构建装配任务过程树,从而支持卫星所有几何可行的流程序列表达和装配场景再现。最后通过某型卫星舱段总装验证了该建模方法的有效性。
Different from the assembly process of general mechanical products, the process of satellite assembly is a combination of “split” and “load” operations. In order to solve this special type of non-linear assembly sequence planning problem, a dynamic change Figure of the assembly planning model. Based on the static directed connection graph, the model constructs the task tree of assembling task by dynamically analyzing the possible state by layer by layer and supports all geometrically feasible sequences of satellites and reproduction of assembly scene. Finally, the effectiveness of this modeling method is verified by the assembly of a certain type of satellite cabin.