This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the assembly. The output is an optimal assembly sequence, namely (1) in which order should one assemble the objects, (2) from which directions should the objects b...

An assembly planner is a program designed to generate high-level plans for the manufacture of mechanical assemblies. At this time several experimental assembly planning systems have been developed. However each has deened the problem diierently, using diierent deenitions of an assembly plan and applying diierent restrictions to the planning process. This report surveys, analyzes and evaluates s...

high-level robotic assembly planning. An assembly is a collection of bodies that are spatially related. When two bodies in an assembly are related, they do not make contact over their whole surface; rather, features of each body are in contact. For the moment, let us think of a feature as some part of the surface of a body. Thus, for example, a journal on a shaft fits a bearing, the teeth of ge...

A product modelling approach is presented that supports the assembly planning task with feature models. Mating and connection relations between components of an assembly can be specified by adding connection features to a product model with a design-by-features approach. In a second feature model, handling features can be specified. From the feature models, a decomposition of the assembly into ...

We address the problem of efficiently testing for linear unboundedness and its applications to translational assembly planning. We describe a new algorithm that performs the test by solving a single homogeneous system of equations followed by a single linear feasibility test. We show that testing for unboundedness is computationally at least as hard as these two subproblems. The new algorithm i...

A feature-based model is proposed for assembly sequence planning automation. The fundamental assembly modeling strategy for a product is based on the mating features of its components. The objectives of this study are to integrate assembly planning of a product with its CAD model, generate a correct and practical assembly sequence and establish a software system to carry out the planning proces...

Due to the complexity of assembly processes, a high ratio of tasks is still performed by human workers. Short-cyclically changing work contents due to smaller lot sizes, especially in the varied series assembly, increases both the need for information support as well as the risk of rising physical and psychological stress. The use of technical and digital assistance systems can counter these ch...