Human–robot collaborative assembly (HRCA) can give full play to their respective advantages and significantly improve assembly efficiency. Rational assembly sequences and task assignment schemes facilitate an efficient and smooth assembly process. This paper proposes a method of integrated assembly sequence planning and task assignment for HRCA based on the genetic algorithm (GA). Firstly, a part assembly process is decomposed into positioning task and connection task, which include a series of activities from the practical application aspect. Then, a dual-task precedence graph model for product assembly is accordingly constructed. Subsequently, GA is used to integrate assembly sequence planning and task assignment in HRCA considering time, complexity, and coherence as optimization objectives. By using Gantt charts, a chromosome encoding and decoding method based on human–robot collaborative assembly state diagrams in collaborative work is proposed to express assembly sequences and task assignment schemes. Finally, assembly process simulation is conducted to slightly adjust the assignment result considering potential collision in the shared time and space during HRCA. The case studies illustrate the feasibility and effectiveness of the proposed approach.

人机协同装配（HRCA）可以充分发挥各自优势，显着提高装配效率。合理的装配顺序和任务分配方案有助于高效、顺畅的装配过程。本文提出了一种基于遗传算法（GA）的HRCA集成装配序列规划和任务分配方法。首先，将一个零件装配过程分解为定位任务和连接任务，从实际应用的角度包括一系列活动。然后，相应地构建了产品装配的双任务优先级图模型。随后，GA 被用于在 HRCA 中集成装配顺序规划和任务分配，将时间、复杂性和一致性作为优化目标。通过使用甘特图，提出了一种基于协同工作中人机协同装配状态图的染色体编码和解码方法，用于表达装配序列和任务分配方案。最后，进行装配过程模拟，以考虑在 HRCA 期间共享时间和空间中的潜在碰撞，对分配结果进行微调。案例研究说明了所提出方法的可行性和有效性。