Efficient assembly sequence planning using stereographical projections of C-space obstacles

This paper presents a new assembly planner, which is based on stereographical projections of C-Space obstacles. The assembly planner applies the well-known assembly-by-disassembly strategy. The complete geometric feasible AND/OR-graph is built. For testing separability a new very fast approach has been implemented with the advantage of direct hardware support. The entire AND/OR-graph is valuated with respect to two criteria: separability and parallelism. We have generated example assembly plans for realistic industrial assemblies, which are modelled with more than two thousand triangles. Despite the fact of high model complexity, we can achieve reasonable computation times.