Hostname: page-component-586b7cd67f-gb8f7 Total loading time: 0 Render date: 2024-11-29T13:56:24.508Z Has data issue: false hasContentIssue false
  • English
  • Français

Inference on robotic assembly precedence constraints using a part contact level graph

Published online by Cambridge University Press:  09 March 2009

D. Y. Cho  and
H. S. Cho
D. Y. Cho
Affiliation:
Department of Precision Eng. and Mechatronics, Korea Advanced Institute of Science and Technology, P.O. Box 201, Cheongryang, Seoul (Korea)
H. S. Cho
Affiliation:
Department of Precision Eng. and Mechatronics, Korea Advanced Institute of Science and Technology, P.O. Box 201, Cheongryang, Seoul (Korea)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper describes a new approach to the automatic generation of assembly precedence constraints for robotic assembly, using a part contact level graph. Since inference of precedence constraints is a prerequisite to generate assembly sequences of a product, much work has been done in this field. However, most of it has some limitations in that they use a cumbersome user query or time-consuming geometric reasoning. To cope with these problems, this paper utilizes three directional part contact level graphs which, in three orthogonal directions, contain the information on directional connections for each pair of mating parts. By using these graphs, an assembly precedence constraint is inferred in two steps: The first step infers a precedence constraint for each directional connection by applying the path-finding algorithm. Utilizing the precedence constraints thus obtained, the next step infers the precedence constraint for each part to be assembled with its base assembly. Examples are given to illustrate the concepts and procedure of the proposed scheme.

Keywords

Constraints; Robotic assemblyDirectionalgraphAutomatic generation.
Type
Research Article
Information
Robotica , Volume 11 , Issue 2 , March 1993 , pp. 173 - 183
Copyright
Copyright © Cambridge University Press 1993

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Xiong, Y.L., Sanger, D.J. and Kerr, D.R., “The Geometric Modelling of Boundless Grasps” Robotica 11, No. 1,19–26 (1993).Google Scholar
2.Salisbury, J.K. and Roth, B., “Kinematic and Force Analysis of Articulated Mechanical Hands” ASME J. Mechanical Design 105, 35–41 (1983).Google Scholar
3.Li, Z.X. and S.S., Sastry, “Task-Oriented Optimal Grasping by Multi-fingered Robot Hands” IEEE J. Robotics and Automation 4, 32–43 (1988).Google Scholar
4.Lakshminarayana, K., “Mechanics of Form Closure” ASME Paper No 78-DET-32(1978).Google Scholar
5.Kerr, D.R. and Sanger, D.J., “The Analysis of Kinematic Restraint” Proceedings of the Sixth World Congress on the Theory of Machines and Mechanisms, New Delhi, India 299–303 (1993).Google Scholar
6.Hunt, K.H., Kinematic Geometry of Mechanisms (Clarendon Press, Oxford, UK, 1989).Google Scholar
7.Ohwovoriole, M.S. and Roth, B., “An Extension of Screw Theory” ASME J. Mechanical Design 103, 725–735 (1981).Google Scholar
8.Ngugen, V.D., “Constructing Force-Closure Grasps” Int. J. Robotics Research 7, No. 3, 1–16 (1988).Google Scholar
9.Xiong, Y.L., Sanger, D.J. and Kerr, D.R., “Optimal Synthesis of Point Contact Restraint” Proc. Inst. Mech. Engrs. 206, 95–103 (1992).Google Scholar
10.Kerr, D.R. and Sanger, D.J., “Restraint Analysis of a Rigid Body Using Frictional Elastic Contacts” ASME J. Mechanisms, Transmissions and Automation in Design 109, 450–454 (1987).Google Scholar
11.Kerr, D.R. and Sanger, D.J., “Grasping Using a Three-Fingered Gripper” Proceedings of 26th Machine Tool Design and Research Conference,Manchester, UK123–126(1986).CrossRefGoogle Scholar
12.Dai, J.S. and Kerr, D.R., “Analysis and Synthesis of Frictionless Planar Grasping in an Image Space” Proc. 22nd. ASME Mechanisms Conf.,Scottsdale, Arizona, USA(1992) pp. 283–291.Google Scholar