Progresses in assembly path planning
نویسندگان
چکیده
Part assembly path planning consists in computing automatically a collision-free path for the part between a disassembled position and an assembled one. The part is first considered as a freeflying object. We have devised a probabilistic diffusion algorithm specially dedicated to that case. Then, we propose two approaches to add a virtual mannequin in the assembly process. The first one consists in planning a path for the part alone and then using inverse kinematics operators to check the feasibility with the mannequin. The second one considers the part grasped by the mannequin as a single system. The diffusion algorithm is then applied on the whole articulated system. While the first approach performs faster, the second one is able to solve more constrained and difficult cases. Both solutions are based on a same path planning library allowing the user to easily evaluate the proposed solutions. Automotive industrial case studies are reported.
منابع مشابه
Micro Planning for Mechanical Assembly Operations
Signi cant advances have been made in the area of macro planning for assembly operations (i.e., dividing a product into sub-assemblies, determining the sequence of assembly operations). On the contrary, the state of the art in micro planning (i.e., tool selection, path planning for tool and part movements) is rather primitive. To generate a realizable assembly plan, both macro planning and micr...
متن کاملPath Planning Analysis of Decelerator Assembly Based on Virtual Technology
In examining the structural characteristics of the different parts of a decelerator, the general rules of 3D part modeling are summarized, a three-dimensional model of a gear bracket is established, and all marshaled parts are generated into the whole parts assembly by considering the assembly relations and hierarchical relations of the parts. Then the reducer assembly path is sketched out, the...
متن کاملPlanning multiple paths with evolutionary speciation
This paper demonstrates a new approach to multidimensional path planning that is based on multiresolution path representation, where explicit configuration space computation is not required, and incorporates an evolutionary algorithm for solving the multimodal optimization problem, generating multiple alternative paths simultaneously. The multiresolution path representation reduces the expected...
متن کاملA new heuristic method based on CPM in SALBP
The task of balancing of assembly lines is well-known in mass production system but this problem is NP-hard even for the simple straight line. Therefore, utilizing heuristic methods for these problems is totally unquestionable. Furthermore, in line with balancing problems, heuristic methods are the foundation of the metaheuristic methods, thus it seems to be necessary to use more efficient heur...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2005