A Temporal Logic Framework For Assembly Sequence Planning

A temporal logic framework is proposed ~OT modelling, specifying and analysing mechanical a ssembly sequences. PTO~Ositional temporal logic of Manna and Pneuli is the assertion language for representing and analysing all constraints OT conditions that assembly sequences must satisfy; and for logically integrating them t o yield all f easible sequences. The strength of this framework over existing representation schemes lilzs in its strong mechanical m anipulability, temporal expressiveness and precise formalism. The implementation of the framework on a workstation for automatic generation of assembly sequences is dedcribed. A sample example illustrates the use of the f ramework.