Disassembly Path Planning for Objects with Articulated Parts
نویسندگان
چکیده
Sampling-based path planning algorithms are powerful tools for computing disassembly motions. This paper presents a variant of the RRT algorithm particularly devised for the disassembly of objects with articulated parts. Configuration parameters generally play two different roles in this type of problems: some of them are essential for the disassembly task, while others only need to move if they hinder the progress of the disassembly process. The proposed method is based on such a partition of the configuration parameters. Results show a remarkable performance improvement compared to standard path planning techniques.
منابع مشابه
Path planning for planar articulated robots using configuration spaces and compliant motion
This paper presents a path planning algorithm for an articulated planar robot with a static obstacle. The algorithm selects a robot part, finds a path to its goal configuration by systematic configuration space search, drags the entire robot along the path using compliant motion, and repeats the cycle until every robot part reaches its goal. The planner is tested on 11,000 random problems, whic...
متن کاملThe Influence of Motion Path and Assembly Sequence on the Stability of Assemblies
In this paper we present an approach for the stability analysis of mechanical part disassembly considering part motion in the presence of physical forces such as gravity and friction. Our approach uses linear complementarity to analyze stability as parts are moved out of the assembly. As each part is removed from the assembly along a specified path during disassembly, we compute the contact for...
متن کاملEfficient Motion Planning Based on Disassembly
Disassembly-based motion planning (DBMP) is a novel and efficient single-query, sampling-based motion planning approach for free-flying robots. Disassembly-based motion planning uses workspace information to determine the workspace volume of a potential solution path and uses this information to exclude large portions of configuration space from exploration. It also identifies the most constrai...
متن کاملPath-planning techniques for the simulation of disassembly tasks
Purpose – This paper aims to develop path-planning techniques that support a general selective disassembly planner in a virtual reality environment. Design/methodology/approach – The paper presents an automatic selective disassembly planning and two path-planning techniques that support it. The first one is based on single translations, while the second is based on the generation of a random se...
متن کاملInteractive Disassembly Planning for Complex Objects
We present an approach for the automatic generation, interactive exploration and real-time modification of disassembly procedures for complex, multipartite CAD data sets. In order to lift the performance barriers prohibiting interactive disassembly planning, we run a detailed analysis on the input model to identify recurring part constellations and efficiently determine blocked part motions in ...
متن کامل