Constraint evaluation for assembly sequence planning

Abstract

Assembly planning systems generate plans for the automated assembly of mechanical products by robots. The sequences to be generated underlie several physical and geometrical constraints and in addition have to be efficient to increase productivity. The challenges still facing the field are to develop efficient and robust analysis tools and to develop planners capable of finding optimal or near-optimal sequences rather than just feasible sequences. This paper addresses the problem of discovery and computation of new measures for assembly cost evaluation. The evaluation criteria are based on the results of the constraint checking process of a high level assembly planning system. The selection of the best assembly plan can be geared towards optimizing these evaluation criteria.