Robotic assembly plays a principal role in intelligent manufacturing and Industry 4.0. Well-informed coordination between the robotic arms and the control modules is of paramount importance in the design and planning of automated systems. Given the time-extensive nature of assembly sequence planning and the need for labor-intensive coding and coordination, knowledge-based automated systems are much-needed tools to help facilitate the development of intelligent manufacturing systems. This research puts forward a Cyber-Physical Assembly System (CPAS)-based metaheuristic for fully-automated assembly sequence planning taking into account the physical characteristics of robotic arms. Illustrative case examples are provided to evaluate the practicability of the proposed approach. It is shown that the proposed approach generates better assembly sequences compared to the traditional methods and that the single-arms robots can execute the resulting assembly plans effectively. The numerical analysis confirmed that the CPAS is more efficient than the existing interactive method most commonly applied for assembly sequence planning. Overall, the proposed framework sets the stage for more effective and fully automated planner-robot interaction in the assembly sequence planning context.

机器人组装在智能制造和工业4.0中扮演着主要角色。在自动化系统的设计和规划中，机械臂和控制模块之间的消息灵通协调至关重要。鉴于装配顺序计划的时间长性以及对劳动密集型编码和协调的需求，基于知识的自动化系统是急需的工具，可帮助促进智能制造系统的开发。这项研究提出了一种基于计算机物理组装系统（CPAS）的元启发式方法，该方法考虑了机器人手臂的物理特征，可以实现全自动的组装顺序计划。提供了示例性案例，以评估所提出方法的实用性。结果表明，与传统方法相比，该方法产生了更好的装配顺序，并且单臂机器人可以有效地执行生成的装配计划。数值分析证实，CPAS比最常用于装配顺序计划的现有交互方法更有效。总体而言，所提出的框架为在装配顺序计划环境中进行更有效和完全自动化的计划程序-机器人交互奠定了基础。