This paper focuses on assembly sequence planning (ASP) for cable harness, which is an essential but not yet well-addressed problem for automated cable assembly. A systematic approach is proposed to obtain all feasible assembly sequences taking account of the effects of the topological structure as well as various types of assembly tasks. The cable representation is first extended to consider the assembled relations of tasks along the entire cable. Then, the effects of a typical task on the assembly feasibility of the entire cable are analyzed. Finally, a framework is proposed to generate all feasible assembly sequences for the cable assembly. The proposed framework is verified using typical cable harnesses with single and multi-branches.

中文翻译：

---

基于图形的电缆线束装配顺序规划框架

本文重点讨论电缆线束的装配顺序规划（ASP），这是自动化电缆装配的一个重要但尚未得到很好解决的问题。考虑到拓扑结构的影响以及各种类型的装配任务，提出了一种系统方法来获得所有可行的装配序列。首先扩展电缆表示以考虑沿整个电缆的任务的组装关系。然后，分析了典型任务对整个电缆组装可行性的影响。最后，提出了一个框架来生成电缆组件的所有可行的组装序列。使用具有单分支和多分支的典型电缆线束验证了所提出的框架。