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Stacking Planner Head: David Bourne Contact: Venkat Ayyadevara Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated center: CIMDS Associated lab/group: Rapid Manufacturing Lab For more information, see this project's homepage.

This page last updated - October 2005.

Project Description

The stacking planner generates plans for polyhedral sheet metal parts. Sheet metal parts used in electronic/consumer product domain have irregular geometry and are difficult to stack. While a lot of work has been done on automated planning for other stages of sheet metal manufacturing, stacking plans are still generated by shop floor personnel. The focus of this work is to generate the stacking plan for a given set of parts and part buffer on which the stack is built.

The stacking plan is described by a set of transformations describing the position and orientation of each part in the stack with respect to a world coordinate system. This plan would then have to be converted into a set of instructions for the part handling mechanism. The planning is comprised of two parts. First, candidate configurations are generated for parts constituting the stack. Next, the feasibility of the part configuration is checked by ensuring no part-part interference and evaluating stability of the stack using screw theory.

Personnel [Past Members]

	Name	Title	Email Address
	David Bourne	Principal Systems Scientist	db@ri.cmu.edu

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Interference-free polyhedral configurations for stacking
  V. Ayyadevara, D. Bourne, K. Shimada, and R.H. Sturges
  IEEE Transactions on Robotics and Automation, Vol. 18, No. 2, April, 2002, pp. 147 - 165. [Abstract]
  Download: pdf [612 KB] copyrighted