English

DTIC ADA168036: AND/OR Graph Representation of Assembly Plans.

This report presents a compact representation of all possible assembly plans of a given product usng AND/OR graphs. Such a representation forms the basis for efficient planning algorithms which enable an increase in assembly system flexibility by allowing an intelligent robot to pick a course of action according to instantaneous conditions. Two applications are discussed: the selection of the best assembly plan (off-line planning), land opportunistic scheduling (on-line planning). An example of an assembly with four parts illustrates the use of the AND/OR graph representation to find the best assembly plan based on weighing of operations according to complexity of manipulation and stability of subassemblies. In practice, a generic search algorithm, such as the AO may be used to fine this plan. The scheduling efficiency using this representation is compared to fixed sequence and precedence graph representations. The AND/OR graph consistently reduces the average number of operations.

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