Research Article

On the generation of robotic assembly sequences based on separability and assembly motion stability

C.K. Shina1 and H.S. Choa1

a1 Department of Precision Engineering and Mechatronics, Korea Advanced Institute of Science and Technology, P.O. Box 201, Cheongryang, Seoul (Korea)

This paper presents a method for the automatic generation of robotic assembly sequences based on the verification of a disassemblability for a part to be disassembled. To derive the disassemblability of a candidate part, we first inference collision free assembly directions by extracting separable directions for the part and calculating the separability which gives information as to how the part can be easily separated. Using the result, we determine the disassemblability defined in terms of the separability and stability costs. The separability cost represents a facility of the part disassembly operation, while the stability cost represents a degree of the stability for the base assembly motion which gives a guidance for design of jig/fixture. The proposed method provides a potentially local optimal solution for finding a cost effective assembly plan, and the feasibility of generating robot motion programs by evaluating separable directions in flexible manufacturing applications. A case study is given to illustrate the concepts and procedure of the proposed scheme.

(Received March 20 1993)


  • Assembly sequences;
  • Separable directions;
  • Separability;
  • Stability;
  • Disassemblability