Complex-structure assembly detection integrated system included automatic assembly, precision orientation, error checking, process simulation and data storage. It was made up by flexible numerical control assembly platform, industrial robot, laser tracker and laser scanner. The cooperation of all parts is the key technology. It can be seen from analyses that the technology of multi-agent is very suitable for

the assembly, so the multi-agent model is made. The whole system can be divided into

several separate agents, they can communicate by local area network, and they can negotiation by contract net protocol, so they can accomplish the assembly task reliably and effectively.

aircraft assembly, multi-agent, laser tracker, laser scanner, robot

复杂结构件自动装配系统是集自动装配、精确定位、误差检测、过程仿真、数据存储等于一体的系统，由柔性装配工装、工业机器人、激光跟踪仪、激光扫描仪等单元组成，而各单元之间的合作与协调是该系统的关键技术。通过分析装配过程发现，多Agent技术非常适合该装配过程的特点，因此，对复杂结构件自动装配系统进行了多Agent建模，将系统分成若干个相互独立的Agent，各Agent间通过局域网进行通信，通过改进的合同网协议进行协商,从而可以可靠地、有效地完成自动装配任务。

飞机装配, 多Agent, 激光跟踪仪, 激光扫描仪, 机器人