Assembly path planning method based on multi-factor cost guidance in virtual assembly simulation

The invention discloses an assembly path planning method based on multi-factor cost guidance in virtual assembly simulation, and the method comprises the following steps: 1, building a virtual assembly three-dimensional environment, setting a search space boundary of an assembly path, determining a range for limiting the search of the assembly path, and setting a planning initial parameter; 2, inthe assembly path search space, taking the initial state of the part to be assembled as a root node, taking multi-factor path cost as guidance, and performing assembly path search and extension in combination with a quick search random tree algorithm; 3, expanding the path tree into the near space of the target state of the part to be assembled, finishing path search, and obtaining a complete assembly path from the initial state to the target state. According to the method, an assembly path multi-factor cost model is constructed by taking the path distance, the path inflection point corner andthe rotation movement ang