Abstract

We consider the problem of automatically generating all sequences for assembling a product. The individual components of the product are restricted to be polyhedra. Each node of the assembly tree represents a component and every branch from a leaf node to the root of the tree represents a feasible assembly sequence. The capability to generate all feasible assembly sequences, based purely on geometry, is necessary for deriving a good sequence based upon other criteria such as robot motion, fixturing and part stability.

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