Pathfinding for Assembly: A-star Algorithm with Finite Size and Rotational Adaptations
Abstract
The assemblability assessment of a new product design often involves finding interference free paths to evaluate if a part can be inserted during the assembly operation. To automate these assessments a pathfinding algorithms is needed that can generate complex assembly paths. We present a novel pathfinding algorithm (based on the A algorithm) that computes an interference free curved path with rotations of the moving object. Additionally we provide a scoring method to summarize the complexity of the path in a single number. Finally we illustrate our algorithm and scoring on some use cases.
Fields of Study & Subjects
Manufacturing Process and Optimization
Robotic Path Planning Algorithms
Robot Manipulation and Learning
Publication details
- Journal / source
- Procedia CIRP
- Volume
- 138
- Pages
- 762–766
- Publication date
- 1 January 2026
- Language
- EN