Robot assembly planning using a task grammar augmented with heuristic knowledge

1996 ◽  
Vol 7 (3) ◽  
pp. 201-215 ◽  
Author(s):  
Jiming Liu
Keyword(s):  
Assembly Planning ◽  
Heuristic Knowledge

Structural Analysis of Product and Computer-Aided Assembly Planning in AssemBL Software Package

2018 ◽  
pp. 11-33
Author(s):  
A. N. Bozhko
Keyword(s):  
Computer Aided Design ◽  
State Of The Art ◽  
Graph Model ◽  
Design System ◽  
Assembly Planning ◽  
Complex Products ◽  
Assembly Sequences ◽  
Computer Aided ◽  
Cad Cam ◽  
Aided Design

Computer-aided design of assembly processes (Computer aided assembly planning, CAAP) of complex products is an important and urgent problem of state-of-the-art information technologies. Intensive research on CAAP has been underway since the 1980s. Meanwhile, specialized design systems were created to provide synthesis of assembly plans and product decompositions into assembly units. Such systems as ASPE, RAPID, XAP / 1, FLAPS, Archimedes, PRELEIDES, HAP, etc. can be given, as an example. These experimental developments did not get widespread use in industry, since they are based on the models of products with limited adequacy and require an expert’s active involvement in preparing initial information. The design tools for the state-of-the-art full-featured CAD/CAM systems (Siemens NX, Dassault CATIA and PTC Creo Elements / Pro), which are designed to provide CAAP, mainly take into account the geometric constraints that the design imposes on design solutions. These systems often synthesize technologically incorrect assembly sequences in which known technological heuristics are violated, for example orderliness in accuracy, consistency with the system of dimension chains, etc.An AssemBL software application package has been developed for a structured analysis of products and a synthesis of assembly plans and decompositions. The AssemBL uses a hyper-graph model of a product that correctly describes coherent and sequential assembly operations and processes. In terms of the hyper-graph model, an assembly operation is described as shrinkage of edge, an assembly plan is a sequence of shrinkages that converts a hyper-graph into the point, and a decomposition of product into assembly units is a hyper-graph partition into sub-graphs.The AssemBL solves the problem of minimizing the number of direct checks for geometric solvability when assembling complex products. This task is posed as a plus-sum two-person game of bicoloured brushing of an ordered set. In the paradigm of this model, the brushing operation is to check a certain structured fragment for solvability by collision detection methods. A rational brushing strategy minimizes the number of such checks.The package is integrated into the Siemens NX 10.0 computer-aided design system. This solution allowed us to combine specialized AssemBL tools with a developed toolkit of one of the most powerful and popular integrated CAD/CAM /CAE systems.

Tool: Eine Sprachdomäne für die Montageplanung*/A domain specific language for assembly planning – Software-supported planning of human-robot cooperation based on ontologies

2018 ◽  
Vol 108 (09) ◽  
pp. 606-610
Author(s):  
R. Müller ◽  
O. Mailahn ◽  
R. Peifer
Keyword(s):  
Assembly Planning ◽  
Domain Specific Language ◽  
Assembly Systems ◽  
Specific Language ◽  
Domain Specific ◽  
Planning Software ◽  
Robot Cooperation ◽  
Planning Knowledge

Die Planung von Montagesystemen wird durch die Einführung von cyber-physischen Modulen und neuen Formen der Zusammenarbeit von Mensch und Roboter zunehmend komplexer. Ontologien können Planungswissen bezüglich Beziehungen und Restriktionen formal abbilden. Mit der hier beschriebenen Sprachdomäne werden Ontologien für Montageplaner zugänglich und anwendbar. Die Planung kann auf diese Weise beschleunigt und flexibilisiert werden.   The planning of assembly systems is becoming increasingly complex with the introduction of cyber-physical modules and new forms of human-robot cooperation. Ontologies can formally capture planning knowledge in terms of relationships and restrictions. The domain specific language described here makes ontologies accessible and usable for assembly planners. Thus, planning may be accelerated and designed more flexibly.

Optimal Robotic Assembly Planning Using Dijkstra’s Algorithm

1994 ◽  
Author(s):  
Sam Anand ◽  
Mohamed Sabri
Keyword(s):  
Configuration Space ◽  
Material Handling ◽  
Search Algorithm ◽  
Robotic Manipulators ◽  
Robotic Assembly ◽  
Graph Search ◽  
Assembly Planning ◽  
Robotic Welding ◽  
Fast Collision ◽  
Space Approach

Abstract Robots play an important role in the modern factory and are used in a manufacturing cell for several functions such as assembly, material handling, robotic welding, etc. One of the principal problems faced by robots while performing their tasks is the presence of obstacles such as fixtures, tools, and objects in the robot workspace. Such objects could result in a collision with one of the arms of the robots. Fast collision-free motion planning algorithms are therefore necessary for robotic manipulators to operate in a wide variety of changing environments. The configuration space approach is one of the widely used methods for collision-free robotic path planning. This paper presents a novel graph-based method of searching the configuration space for a collision-free path in a robotic assembly operation. Dijkstra’s graph search algorithm is used for optimizing the joint displacements of the robot while performing the assembly task. The methodology is illustrated using a simple robotic assembly planning task.

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