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Inference on robotic assembly precedence constraints using a part contact level graph

Published online by Cambridge University Press:  09 March 2009

D. Y. Cho  and
H. S. Cho
D. Y. Cho
Affiliation:
Department of Precision Eng. and Mechatronics, Korea Advanced Institute of Science and Technology, P.O. Box 201, Cheongryang, Seoul (Korea)
H. S. Cho
Affiliation:
Department of Precision Eng. and Mechatronics, Korea Advanced Institute of Science and Technology, P.O. Box 201, Cheongryang, Seoul (Korea)
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Summary

This paper describes a new approach to the automatic generation of assembly precedence constraints for robotic assembly, using a part contact level graph. Since inference of precedence constraints is a prerequisite to generate assembly sequences of a product, much work has been done in this field. However, most of it has some limitations in that they use a cumbersome user query or time-consuming geometric reasoning. To cope with these problems, this paper utilizes three directional part contact level graphs which, in three orthogonal directions, contain the information on directional connections for each pair of mating parts. By using these graphs, an assembly precedence constraint is inferred in two steps: The first step infers a precedence constraint for each directional connection by applying the path-finding algorithm. Utilizing the precedence constraints thus obtained, the next step infers the precedence constraint for each part to be assembled with its base assembly. Examples are given to illustrate the concepts and procedure of the proposed scheme.

Keywords

Constraints; Robotic assemblyDirectionalgraphAutomatic generation.
Type
Research Article
Information
Robotica , Volume 11 , Issue 2 , March 1993 , pp. 173 - 183
Copyright
Copyright © Cambridge University Press 1993

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