Generation of partial medial axis for disassembly motion planning

Author

Xu, Yangsheng ; Mattikalli, Raju ; Khosla, Pradeep

Author_Institution

Eng. Design Res. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA

fYear

1991

fDate

13-16 Oct 1991

Firstpage

997

Abstract

An efficient approach is presented for determining disassembly motion plans of a subassembly in the free space within its parent subassembly. A two-step approach is presented to generating motion plans. First, all possible paths within any free space of the parent subassembly are generated using a partial medial axis. This is followed by a graph search for an optimal global path. Secondly, a collision-free motion is planned using the global path and the geometry of the moving subassembly. The authors focus on the first problem, i.e. generation of partial medial axis for disassembly motion planning. A method is given to determine a partial medial axis when the parent subassembly is a 2D polygon. A set of critical points within the given polygon is identified, and these critical points are then connected based on geometry constraints

Keywords

assembling; planning (artificial intelligence); search problems; spatial reasoning; 2D polygon; collision avoidance; collision-free motion; disassembly motion planning; geometry constraints; graph search; optimal global path; partial medial axis; Assembly; Costs; Design automation; Design engineering; Geometry; Lead time reduction; Manufacturing automation; Motion planning; Orbital robotics; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on

Conference_Location

Charlottesville, VA

Print_ISBN

0-7803-0233-8

Type

conf

DOI

10.1109/ICSMC.1991.169818

Filename

169818