A Virtual Manufacturing Workcell for Automated Assembly

This work describes the implementation of a novel robot workcell programming interface that allows an assembly designer to obtain immediate feedback regarding the manufacturability of his/her design. The interface allows the user to manipulate the three-dimensional CAD/CAM models of the components and \assemble" them into the nal product. The computer then analyzes the relevant assembly operations and translates them into low-level commands for the robots in the spe-ciic workcell under consideration. This work is motivated by the complexity and time-consuming nature of manually programming exible assembly cells for the manufacture of diierent products, particularly when they involve the cooperation of multiple robot manipulators.