COMPUTER-AIDED PROCESS PLANNING FOR ROBOTIC ASSEMBLY

Robotic assembly planning is hard because of the large number of assem bly sequences must be considered! multiplied by the difficulty of deal ing with the geometry and physics of each operation. In this paper, a computer-aided process planning system is developed for robotic assemb ly. By applying the feasibility and quality knowledge at:each stage of the generation process, it is possible to construct the best feasible assembly process plan for further task planning and execution. An app lication is presented to illustrate the generation process and system performance with respect to the size of the assembly.