An analytic approach for generation of assembly sequences with feasible trajectory

In this paper, an analytic method is presented to find feasible disassembling trajectory if one exists. This approach assumes that the geometrical borders of the assembled components are electrostatically charged. Therefore joined components thrust each other in the direction of repulsive force from which the disassemblability can be verified. All the possible assembling sequences are derived by traversing the components with testing the assemblability starting from a base component. Moreover a simple function to evaluate each sequence based on the energy minimization viewpoint is proposed to suggest the safest assembling plan. Finally, a 3D experimental results are presented.