Abstract
The development of planning tools which facilitate computer-aided design of assembly systems is important to making the systems implementation process more efficient and cost-effective. Design of flexible assembly systems requires a representation of the assembly task, a planning strategy to select feasible assembly sequences, and a control synthesis procedure to schedule operations and resources. This paper describes a nonlinear planning approach which proposes feasible assembly sequences based on a relational model of part contacts and attachments. The resulting plans are consolidated into an AND/OR graph representation which provides a basis for efficient scheduling of operations. Scheduling efficiency using this representation is compared to fixed sequence and precedence graph representations for a simple example.
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