The assembly process is one of the most time consuming and expensive manufacturing activities. The cost of assembly on an average is 10-30% of the manufacturing cost of a commercial product. The ratio between cost and performance of assembly has gradually increased with respect to the other phases of the manufacturing process and in recent years, this fact has caused a growing interest by indus...

This paper proposes a mathematical approach to the aiialysis of disassemblability of a product for generating stable robotic assembly sequences. The disassemblability of a part, which represents a cost for disassembling the part from a base assembly, is derived in terms of both separability of a part from a base assembly and motion instability of the base assembly. Then, stable robotic assembly...

A \modular" robotic system consists of joint and link modules that can be assembled in a variety of conngurations to meet diierent or changing task requirements. However, due to typical symmetries in module design, diierent assembly conngurations may lead to robotic structures which are kinematically identical, or isomorphic. This paper considers how to enumerate the non-isomorphic assembly con...

Programmable self-assembly of modular robots offers promising means for structure formation at different scales. Rule-based approaches have been previously employed for distributed control of stochastic self-assembly processes. The assembly rate in the process directly depends on the concurrency level induced by the employed ruleset, i.e. the number of concurrent steps necessary to build one in...

Redundant robotic manipulators, singleor dual-arms, have received increasing use in assembly applications in industry. Correct dimension and use of such redundant robotic manipulators subject to assembly forces experience significant challenges due to the internal motion introduced by the kinematic redundancy. In robotic manipulator design, it is essential to consider the specification of assem...

The optimal feasible robotic assembly sequence leads to efficient manufacturing process by minimizing the assembly cost. Assembly cost is based on the energy required to assemble the components through collision free path and robot directional changes during the assembly operations. So, the determination of a feasible assembly sequence with minimum assembly cost is vital concern for manufacturi...

The optimal feasible robotic assembly sequence leads to efficient manufacturing process by minimizing the assembly cost. Assembly cost is based on the energy required to assemble the components through collision free path and robot directional changes during the assembly operations. So, the determination of a feasible assembly sequence with minimum assembly cost is vital concern for manufacturi...

results twelve original studies fulfilled the inclusion criteria. the current literature suggests that the learning curve of robotic rectal surgery varies between 15 and 44 cases and is probably shorter to that of laparoscopic rectal surgery. conclusions there are only a few studies assessing the learning curve of robotic rectal surgery and they possess several differences in methodology and ou...

Developing a capability for the assembly of large space structures has the potential to increase the capabilities and performance of future space missions and spacecraft while reducing their cost. One such application is a megawatt-class solar electric propulsion (SEP) tug, representing a critical transportation ability for the NASA lunar, Mars, and solar system exploration missions. A series o...