A Note on Mechanical Feasibility Predicate for Robotic Assembly Sequence Generation

Assembly sequence generation at early stages of product design leads to minimal production time. In order to generate valid practically possible assembly sequence, several assembly predicates must be considered during the assembly sequence generation process. Mechanical feasibility predicate is one of the essential predicate, which ensures the geometric feasibility of physical connectors. In the current paper, representation of mechanical feasibility data is described for different types of connectors used in mechanical assemblies. The proposed representation method reduces the complexity of the assembly sequence generation problem compared to the traditional formulation. Method to extract the mechanical feasibility matrix is proposed and illustrated with an example through algorithms.