Constraint-based interactive assembly planning

Constraints on assembly plans vary depending on product, assembly facility, assembly volume, and many other factors. This paper describes the principles and implementation of a framework that supports a wide variety of user-speci ed constraints for interactive assembly planning. Constraints from many sources can be expressed on a sequencing level, specifying orders and conditions on part mating operations in a number of ways. All constraints are implemented as lters that either accept or reject assembly operations proposed by the planner. For e ciency, some constraints are supplemented with special-purpose modi cations to the planner's algorithms. Fast replanning enables a natural plan{view{constrain{replan cycle that aids in constraint discovery and documentation. We describe an implementation of the framework in a computeraided assembly planning system and experiments applying the system to several complex assemblies.