Assembly Planning Using a Two-Arm System for Polygonal Furniture

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-9173

S. T. Payne, C. Garrison, Steve Markham, Tucker Hermans, K. Leang

引用次数: 0

Abstract

This paper focuses on the assembly planning process for constructing polygonal furniture (such as cabinets, speakers, bookshelves, etc.) using robotic arms and manipulators. An algorithm is described that utilizes easily-implemented and generally-accepted motion planning algorithms to take advantage of the polygonal nature of the furniture, which reduces the complexity of the assembly planner. In particular, the algorithm disassembles a given CAD model in simulation to find a valid assembly order and disassembly path, then implements that assembly order with two robotic arms, using the disassembly path as the finishing path of the part into the assembly. Additionally, it finds a collision-free plan developed for each of the arms in the correct assembly order with the final result being the assembly of the model.

查看原文本刊更多论文

基于双臂系统的多边形家具装配规划

本文主要研究了利用机械臂和机械手构造多边形家具(如橱柜、扬声器、书架等)的装配规划过程。描述了一种算法，该算法利用易于实现和普遍接受的运动规划算法来利用家具的多边形特性，从而降低了装配规划器的复杂性。具体而言，该算法在仿真中对给定的CAD模型进行拆卸，找到有效的装配顺序和拆卸路径，然后用两个机械臂实现该装配顺序，将拆卸路径作为零件进入装配体的完成路径。此外，它以正确的装配顺序为每个臂找到一个无碰撞计划，最终结果是模型的装配。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.