Subassembly identification and motion generation of assembly: a geometrical approach

Raju Mattikalli, Pradeep Khosla, and Yangsheng Xu
Proceedings of IEEE International Conference on System Engineering, August, 1990, pp. 399-403.


Download
  • Adobe portable document format (pdf) (542KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
A method for automated generation of an assembly procedure for a given assembly is presented. The procedure is generated from the parts geometry and topology model, and thus explicit specification of mating relations between parts is not required. The approach also prevents wrong mating relations from being presented and makes checking for validity unnecessary. The geometric considerations in the generation of the assembly sequence make it possible to evaluate assembly performance directly and to easily generate detailed assembly plans, such as grasping, transferring, and manipulation, based on the given geometry of the assembly. Algorithms are presented for finding a collision-free path for disassembly motions. The efficiency and feasibility of the algorithms is demonstrated through a case study.

Notes

Text Reference
Raju Mattikalli, Pradeep Khosla, and Yangsheng Xu, "Subassembly identification and motion generation of assembly: a geometrical approach," Proceedings of IEEE International Conference on System Engineering, August, 1990, pp. 399-403.

BibTeX Reference
@inproceedings{Khosla_1990_2369,
   author = "Raju Mattikalli and Pradeep Khosla and Yangsheng Xu",
   title = "Subassembly identification and motion generation of assembly: a geometrical approach",
   booktitle = "Proceedings of IEEE International Conference on System Engineering",
   pages = "399-403",
   month = "August",
   year = "1990",
}