Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)
- Volume 20 Issue 1
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- Pages.213-221
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- 1996
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- 1226-4873(pISSN)
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- 2288-5226(eISSN)
DOI QR Code
Geneation of Optimized Robotic Assembly Sequences Via Simulated Annealing Method
자동조립에서 시뮬레이트 어닐링을 이용한 조립순서 최적화
- Hong, Dae-Sun (Sam Sung Aerospace Industries, Lte.,) ;
- Cho, Hyung-Suck (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
- Published : 1996.01.01
Abstract
An assembly sequence is considered to be optimal when is minimizes assembly cost while satisfying assembly constraints. To derive such an optimal sequence for robotic assembly, this paper proposes a method using a simulated annealing algorithm. In this method, an energy funciton is derived inconsideration of both the assembly constraints and the assembly cost. The energy function thus derived is iteratively minimized until no further change in energy occurs. During the minimization, the energy is occationally perturbed probabilistically in order to escape from local minima. The minimized energy yields an optimal assembly sequence. To show the effectiveness of the proposed method, case studies are presented for industrial products such as an electrical relay and an automobil alternator. The performance is analyzed by comparing the results with those of a neural network-based method, based upon the optimal solutions of an expert system.