The challenge in modeling and solving assembly planning problems lies integrating combinatorial optimization techniques for finding efficient task sequences resource assignments with geometrical reasoning to ensure the technological feasibility of plans. This paper proposes a Benders decomposition approach that separates macro-level problem, responsible sequencing assignment, from micro-level v...

The concept of Design for Assembly (DFA) assure cost effective assembly process by minimizing the assembly efforts. Part count reduction is one of the primary objective of DFA, which reduces the number of assembly levels and assembly tooling. However reducing part count with modified part geometries do not allow to follow the same assembly sequence that of used earlier. In this contest a framew...

Abstract Frequent changes in customer needs and large product variety are forcing manufacturing companies to move from mass production customization. Customized can be achieved by introducing reconfigurable systems (RMS). The customized flexibility several characteristics of RMSs provide many opportunities terms process planning. However, those greatly increase the complexity design planning sy...

Focusing on accessibility issues, this paper presents a qualitative measure of assembly task di culty based on concepts from information theory. It is proposed that assembly task di culty is directly proportional to the logarithm of the assembly task e ciency, this efciency being a function of the average information content of the assembly task. Preliminary evaluation results are presented whe...

The numerical control of an experimental assembly cell with two robots--termed a cognitive control unit (CCU)--is able to simulate human information processing at a rule-based level of cognitive control. To enable the CCU to work on a large range of assembly tasks expected of a human operator, the cognitive architecture SOAR is used. The CCU can plan assembly processes autonomously and react to...

4th IFAC Symposium on Robot Control '94 Capri, Italy, September 19{21, 1994 2{MODULE NONHOLONOMIC VARIABLE GEOMETRY TRUSS ASSEMBLY: MOTION CONTROL P. S. KRISHNAPRASAD and D. P. TSAKIRIS University of Maryland at College Park, Institute for Systems Research & Department of Electrical Engineering, College Park, MD 20742, USA Abstract: The nonholonomic motion planning problem is considered for a n...