Assembly sequence planning for automated micro assembly

Abstract

We describe a robust algorithm to do assembly sequence planning for open-loop microassembly. The algorithm detects collisions which may occur when executing an assembly sequence. If a collision exists, the assembly sequence is modified automatically (in order to avoid collisions). The algorithm has a low time complexity and is guaranteed to find a collision-free sequence if one exists. Moreover, it can also be extended to generate an optimum assembly sequence. We also describe the assembly operations which are supported by our robotic system (and the sequence planning algorithm)