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Geometrical and Physical Reasoning for Stable Assembly Sequence Planning

  • Chapter
Geometric Modeling: Theory and Practice

Part of the book series: Focus on Computer Graphics ((FOCUS COMPUTER))

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Abstract

We present a planning system generating sequences for the automated assembly of mechanical products by robots. Several physical and geometrical constraints have to be taken into account to compute efficient, robust and powerful assembly plans. Our assembly planning system automatically considers physical and geometrical constraints to generate stable robot assembly sequences. We propose a relational assembly model including a CAD description, the specification of features and symbolic spatial relations between the assembly components. The solid modeling system of a commercial robotics simulation system allows the user to define features of the assembly components and to specify symbolic spatial relationships. We developed an extended cycle finder which reduces the degrees of freedom defined by the symbolic spatial relationships and increases the efficiency of the assembly planning system. We use an optional specification of an arbitrary hierarchy of assemblies to speed up and guide the generation of sequences. Another important constraint is the stability of the generated (sub)assemblies. The presented system is the first assembly planning system which automatically determines the range of all stable orientations of an assembly for assembly plan generation.

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Author information

Authors and Affiliations

  1. Institute for Robotics and Computer Control, Technical University of Braunschweig, Hamburger Str. 267, 38114, Braunschweig, Germany

    H. Mosemann & F. M. Wahl

Authors
  1. F. Röhrdanz
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  2. H. Mosemann
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  3. F. M. Wahl
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Editor information

Editors and Affiliations

  1. Wilhelm-Schickard-Institut für auf Informatik, Auf der Morgenstelle 10, D-72076, Tübingen, Germany

    Wolfgang Strasser , Reinhard Klein  & René Rau ,  & 

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© 1997 Springer-Verlag Berlin Heidelberg

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Röhrdanz, F., Mosemann, H., Wahl, F.M. (1997). Geometrical and Physical Reasoning for Stable Assembly Sequence Planning. In: Strasser, W., Klein, R., Rau, R. (eds) Geometric Modeling: Theory and Practice. Focus on Computer Graphics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-60607-6_27

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  • DOI: https://doi.org/10.1007/978-3-642-60607-6_27

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-61883-6

  • Online ISBN: 978-3-642-60607-6

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