Modelling and sequence generation for robotized mechanical assembly

doi:10.1016/0921-8890(92)90050-9

Robotics and Autonomous Systems

Volume 9, Issue 3, 1992, Pages 137-147

https://doi.org/10.1016/0921-8890(92)90050-9 Get rights and content

Abstract

This paper describes a programming system capable of automatically generating robotic assembly sequences. It is a generative robotic assembly process planner. A geometric model of the product to be assembled is defined interactively in the feature-based product database. Assembly relationships among components are modelled interactively in the graphical relation diagram. The validity of the physical connections defined in the relation diagram is checked by analyzing the geometric information contained in the feature-based product database. A single robotic assembly sequence is automatically generated. The component (or subassembly) to be moved at each step of the assembly sequence is also explicitly provided in the assembly sequence formulation.

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Cited by (7)

Knowledge-based model for constructing master assembly sequence
2015, Journal of Manufacturing Systems
Citation Excerpt :
Summary and conclusions are outlined in Section 7. Significant research has been carried out on assembly sequence generation [7–14]. Research on automating or semi-automating assembly sequence generation goes back to the eighties and earlier [15].
A novel knowledge-based mixed-integer programming (MIP) model is presented for generating the assembly sequence of a given product based on available assembly sequence data of similar products. The proposed mathematical model finds the optimal consensus assembly sequence tree for an existing product family based on the assembly sequence trees of individual product family members. The proposed model is inspired by problems studied in biology and phylogenetics where a consensus species classification for a set of conflicting classifications is sought. The generated consensus tree serves as a master assembly sequence tree and is used to generate the assembly sequence for new product variants that falls within, or significantly overlaps with, the boundary of the considered family of products. The developed model is demonstrated using a family of pilot valves. The knowledge-based MIP model supports automatic assembly sequence generation, hence, reduces assembly planning effort and cost and improves productivity.
Relation between part position and kinematic freedom: An expository survey
2010, Mechanism and Machine Theory
Citation Excerpt :
The ambiguities associated with the combinatorial compatibility scheme followed in [52] are eliminated by explicitly specifying the connection between the form features in contact [56,57].
This paper makes explicit the relation between relative part position and kinematic freedom of the parts which is implicitly available in the literature. An extensive set of representative papers in the areas of assembly and kinematic modelling is reviewed to specifically identify how the ideas in the two areas are related and influencing the development of each other. The papers are categorised by the approaches followed in the specification, representation, and solution of the part relations. It is observed that the extent of the part geometry is not respected in modelling schemes and as a result, the causal flow of events (proximity–contact–mobility) during the assembling process is not realised in the existing modelling paradigms, which are focusing on either the relative positioning problem or the relative motion problem. Though an assembly is a static description of part configuration, achievement of this configuration requires availability of relative motion for bringing parts together during the assembly process. On the other hand, the kinematic freedom of a part depends on the nature of contacting regions with other parts in its static configuration. These two problems are thus related through the contact geometry. The chronology of the approaches that significantly contributed to the development of the subject is also included in the paper.
Optimal operations sequence retrieval from master operations sequence for part/product families
2018, International Journal of Production Research
Consensus tree method for generating master assembly sequence
2014, Production Engineering
Relation of Part Positions and Kinematic Freedom: A Survey
2007, 13th National Conference on Machines and Mechanisms, NaCoMM 2007
Modeling technology in an assembly system
1997, Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

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¹: Dr. Hoda A. ElMaraghy is a Professor of Mechanical Engineering and Director of the Centre for Flexible Manufacturing Research and Development at McMaster University, Hamilton, Canada. She is the first female active member of the CIRP, the world's leading academy of experts in production research. Her current research interests include intelligent automation, robotic assembly, flexible manufacturing, feature-based design, expert task planning and intelligent design and has authored 90 technical publications in these areas. Dr. ElMaraghy is a Project Leader in centres for research excellence in manufacturing and intelligent robots. Dr. Elmaraghy is also involved in international collaborative research in Production Planning and Scheduling with the Fraunhofer Institute for Production Automation in Stuttgart, Germany. Dr. ElMaraghy has acted as a consultant to industry in Canada and the United States. She teaches design, CAD, CAM, CIM and robotics. Dr. ElMaraghy was honoured as Hamilton's Woman of the Year in the Workplace Category for 1990 for contributions to the community.

²: Luc Laperriére is doing his Ph.D. research under the supervision of Dr. H.A. ElMaraghy at McMaster's Centre for Flexible Manufacturing. He received his M. Eng, at McMaster University in 1989: his fields of expertise are generative assembly process planning heuristic search techniques and graph theory. Mr. Laperriére is presently employed at the University of Quebec at Trois Riviéres as a lecturer in the Department of Mechanical Engineering.

View full text

Modelling and sequence generation for robotized mechanical assembly

Abstract

International Journal of Machine Tools and Manufacture

Computer Aided Design

A heirarchical data structure for representing assemblies: Part 1, Computer Aided Design

SME Journal of Manufacturing Systems

Computer Aided Design

The Annals of CIRP

A knowledge-based planning system for mechanical assembly using robots

IEEE Expert

Procedence knowledge in feature mating operation assembly planning