中文摘要：

为提高装配序列规划求解效率，在图论割集法的基础上，引入有序二叉决策图描述装配关联图、装配操作、装配几何可行性和装配稳定性。利用装配优先约束关系，简化装配关联图，设计了基于符号有序二叉决策图技术的装配序列生成算法，分析了该算法的时间复杂度。在每一次割集分解之后，检验子装配体的几何可行性和稳定性，实现装配序列生成过程中状态空间的隐式表示和搜索。研究实例验证了基于符号有序二叉决策图技术的装配序列生成算法的可行性和有效性。

英文摘要：

To improve solution efficiency of assembly sequence planning, Ordered Binary Decision Diagrams （OBDD） was introduced to represent liaison graph, assembly operations, assembly geometric feasibility and stability on the basic principles of the cut set of graphic theory. Assembly precedence constraints were applied to simplify the liaison graph of assembly. An assembly sequences generation algorithm based on the symblic OBDD technique was presented, and time complexity of this algorithm was also analyzed. Geometric feasibility and stability of the sub-assembly were checked after each decomposition of the graph cut-set to realize the implicit representations and search of state spaces of assembly sequence generation. Experimental results demonstrated the feasibility and validity of the symbolic OBDD technique.