제어로봇시스템학회:학술대회논문집
- 1992.10a
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- Pages.507-512
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- 1992
On the generation of robotic assembly sequences using disassemblability based on separable direction
분해도를 이용한 조립순서 추론에 관한 연구
Abstract
This paper presents a method for the automatic generation of assembly sequences based on the recursive extraction of a preferred part along with the verification of its disassemblability. To verify the disassemblability of the part we inference the geometric precedence constraints using a method of extracting separable directions for the part and determine the disassemblability cost by the separability and stability cost. The proosed method provides a local optimal solution of finding a cost effective assembly plan, and the feasibility of calculating robot motion programs by evaluating separable directions in flexible manufacturing application. A case study is given to illustrate the concepts and procedure of the proposed scheme.
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