Control-oriented representation method of assembly process for intelligent assembly system

This work put forward a new idea of reconfigurable control of assembly process with a modular assembly control schedule (ACS) as system input and a series of automatic assembly actions of terminal execution units as system output. Based on this, an assembly process representation mechanism for reconfigurable control of intelligent assembly system is proposed, which provides an important basis and support for the further optimization and control of assembly actions. Firstly, the concepts of process meta-action (PMA) and control meta-instruction (CMI) of assembly were proposed, and the assembly process was decomposed into multiple PMAs by PSA (Procedure-Step-Action) decomposition method. Then, oriented to the control of assembly actions, PMAs were symbolized. Finally, the assembly of a micro gear was taken as a case study, and this work has been used to schedule the assembly actions of an actual micro-assembly system.