A structure-oriented approach to assembly sequence planning

S. Chakrabarty, J. Wolter
1997 IEEE Transactions on Robotics and Automation  
An assembly sequence planner is a system which, given a description of an assembly to be manufactured, identi es subassemblies and generates high-level plans for the construction of the each subassembly, including the nal assembly. Previous research has shown that feasible plans can be e ciently produced for large assemblies, but the generation of good plans has met with less success. Not only are there di culties in de ning \good plans," but all published methods for nding good plans have
more » ... tational complexities that make them unlikely to be practical for large assemblies. This paper shows that representing an assembly as a hierarchy of assembly structures can overcome many of these di culties. A planner is described with uses the structure hierarchy both as a framework for structure-dependent de nitions of a good plan, and as a tool for nding good plans more rapidly by using high-level expert advice, by reusing subplans for repeated substructures, and by not fully optimizing the plan. Analytical and experimental results are presented to demonstrate the e ectiveness of the approach.
doi:10.1109/70.554344 fatcat:pl7cstmf6zdt3mfet6neouabpe