Title :
Subassembly stability and reorientation
Author :
Lee, Sukhan ; Yi, Chunsik
Author_Institution :
Dept. of Electr. Eng.-Syst. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
The authors propose the stability analysis of subassemblies which has several important benefits in assembly planning. Some of the cost criteria such as reorientation, parallelism, and fixturing are identified. Incorrect assembly sequences can be eliminated by identifying unstable subassemblies. A more efficient planner can be built by reducing the search space by pruning out unstable subassemblies early in the planning steps. A more complete stability analysis of subassemblies is presented. Three necessary stability criteria are considered: subassembly-stability, pose-stability, and mating-stability. Force-based reasoning is introduced in the analysis. Algorithms to solve the stability criteria are described
Keywords :
assembling; industrial robots; inference mechanisms; path planning; stability; assembly planning; assembly sequences; cost criteria; fixturing; force-based reasoning; mating-stability; parallelism; planning steps; pose-stability; reorientation; search space; stability analysis; subassemblies; Assembly systems; Computer science; Costs; Humans; Laboratories; Parallel processing; Path planning; Propulsion; Stability analysis; Stability criteria;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291905
