Hostname: page-component-cd9895bd7-lnqnp Total loading time: 0 Render date: 2024-12-18T17:45:12.687Z Has data issue: false hasContentIssue false
  • English
  • Français

On the generation of robotic assembly sequences based on separability and assembly motion stability

Published online by Cambridge University Press:  09 March 2009

C.K. Shin  and
H.S. Cho
C.K. Shin
Affiliation:
Department of Precision Engineering and Mechatronics, Korea Advanced Institute of Science and Technology, P.O. Box 201, Cheongryang, Seoul (Korea)
H.S. Cho
Affiliation:
Department of Precision Engineering and Mechatronics, Korea Advanced Institute of Science and Technology, P.O. Box 201, Cheongryang, Seoul (Korea)
Get access Rights & Permissions [Opens in a new window]

Extract

This paper presents a method for the automatic generation of robotic assembly sequences based on the verification of a disassemblability for a part to be disassembled. To derive the disassemblability of a candidate part, we first inference collision free assembly directions by extracting separable directions for the part and calculating the separability which gives information as to how the part can be easily separated. Using the result, we determine the disassemblability defined in terms of the separability and stability costs. The separability cost represents a facility of the part disassembly operation, while the stability cost represents a degree of the stability for the base assembly motion which gives a guidance for design of jig/fixture. The proposed method provides a potentially local optimal solution for finding a cost effective assembly plan, and the feasibility of generating robot motion programs by evaluating separable directions in flexible manufacturing applications. A case study is given to illustrate the concepts and procedure of the proposed scheme.

Keywords

Assembly sequencesSeparable directionsSeparabilityStabilityDisassemblability
Type
Research Article
Information
Robotica , Volume 12 , Issue 1 , January 1994 , pp. 7 - 15
Copyright
Copyright © Cambridge University Press 1994

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

1.Werling, G. & Hug, A. “Generating Robust Assembly Plans. by Geometric Reasoning” Internal Report (University of Karlsruhe, Institute for Real-time Computer Systems and Robotics, 09. 1991).Google Scholar
2.Hormann, K. & Werling, V. “Ein Verfahren zur Planung von Feinbewegungen fur Montageoperationen” Roboter-systemes 17–28 (1989).Google Scholar
3.Chen, L.L. & Woo, T.C., “Computational Geometry on the sphere with Application to Automated Machining” Tech. Report 89–30 (Dept. of Industrial and Operations Engineering, University of Michigan, 08 1989).Google Scholar
4.Fazio, T.L. De & Whitney, D.E., “Simplified Generation of All Mechanical Assembly Sequences” IEEE Journal of Robotics and Automation RA-3, No. 6, 640–658 (Dec., 1987).CrossRefGoogle Scholar
5.Baldwin, D.F., Abell, T.E., Lui, M.C. Max, Fazio, T.L. De & Whitney, D.E., “An Integrated Computer Aid for Generating and Evaluating Assembly Sequences for Mechanical Products” IEEE Transactions of Robotics and Automation 7, No. 1, 78–94 (02, 1991).CrossRefGoogle Scholar
6.Cho, D.Y. & Cho, H.S., “Inference on Robotic Assembly Precedence Constraints Using Part Contact Level Graph” Robotica 11, Part 2, 173–183 (1993).CrossRefGoogle Scholar
7.Mello, H. De & Sanderson, A.C., “Automatic Generation of Mechanical Assembly Sequences” Report No. CMU-RITR-88–19 (Robotics Institute, Carnegie-Mellon University, Pittsburgh, Pa., 1988).Google Scholar
8.Mello, H. De & Sanderson, A.C., “Automatic Generation of Mechanical Assembly Sequences” Proceedings of IEEE International Conference on Robotics and Automation, Scottsdale, Arizona (1989) pp. 56–61.Google Scholar
9.Heemskerk, C.J.M., “The Use of Heuristic in Assembly Sequences Planning” Annals of the CIRP `(1), 37–40 (1989).CrossRefGoogle Scholar
10.Lee, S.H., “Assembly Planning based on Subassembly Extraction” Transactions on Robotics and Automation Special Issue on Manufacturing Systems: Design, Planning, Scheduling and Real-Time Control 1–32 (04, 1990).Google Scholar
11.Cho, D.Y., Shin, C.K. & Cho, H.S., “Automatic Inference on Stable Robotic Assembly Sequences Based upon the Evaluation of the Base Assembly Motion Instability” Robotica (to appear).Google Scholar