A Graph Based Heuristic Approach to Automated Assembly Planning

Abstract

Abstract Automatic generation of product assembly sequence is essential for robotic assembly task planning. In this paper, a graph-based heuristic approach is presented for assembly sequence planning. A product is represented in feature-based product model. A liaison graph is then formed based on assembly relations among components. The liaison graph is split into two or more pieces by removing the cutvertex from the graph. The pieces may also be split again until basic graph(bi-connected graph) are found. The basic graphs are considered as sub-assemblies. The disassembly sequence for each sub-assembly is determined. The disassembly sequences are then merged to generate a complete disassembly sequence for the product. Finally, the assembly sequence is defined by reversing the complete disassembly sequence.