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

fYear

1993

fDate

2-6 May 1993

Firstpage

521

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291905

Filename

291905