Automatic decomposition of planned assembly sequences into skill primitives

Mosemann, Heiko; Wahl, Friedrich M.

doi:10.1109/70.964670

Cited by 78 publications

(29 citation statements)

References 35 publications

(45 reference statements)

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“…an assembly sequence results from systematically disassembling the final product and reversing the disassembling sequence (Lee, 1989;Mosemann and Wahl, 2001). This recursive decomposition process may be represented by the non-ordered directed tree, which is called ''assembly tree''.…”

Section: Related Workmentioning

confidence: 99%

“…It usually employs the contact-base feature or mating relations to represent the precedence relationships of the product. Mosemann and Wahl suggested that the assembly precedence could be formulated by using the skill primitives classified by the decomposition (Mosemann and Wahl, 2001). The limitation of many of these approaches is that they only consider partial assembly characteristics of a product to determine precedence constraints and sequences (Rajan and Nof, 1996).…”

Section: Related Workmentioning

confidence: 99%

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Optimizing assembly planning through a three-stage integrated approach

Chen

Tai³

2004

International Journal of Production Economics

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This study proposes a three-stage integrated approach with heuristic working rules to assist the planner to develop a better assembly plan. In the first stage, Above Graph and transforming rules were used to create a correct Explosion Graph of the assembly models. In the second stage, a three-level relational model was developed to create a complete relational model graph and an incidence matrix. In the third stage, a mathematical model, based on a penalty index was formulated, and a revised minimum spanning table method was used to generate and evaluate a feasible assembly sequence. The example of a military system is presented to demonstrate the feasibility of the proposed method. The contribution of this study is based on a design for assembly potential applications of three-dimensional (3D) component models to assist manual or automatic assembly in a virtual environment, and allows the designer to recognize the relative position, constraints and relationships of 3D components using graph-oriented methods: Above Graph, assembly precedent diagram, and relational model graph. r

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Optimizing assembly planning through a three-stage integrated approach

Chen

Tai³

2004

International Journal of Production Economics

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“…A knowledge based system was used to generate assembly sequence in tree form from CAD design data and forward chaining inference for generating task level commands. Mosemann and Wahl [14] used AND/OR graphs for sequence representation and by analyzing algorithmically hyperarcs of graphs, complex sequences of assembly operations were decomposed into skill primitives. Unified modeling language (UML) was used to model robot tasks and skill primitives.…”

Section: Introduction and Literature Reviewmentioning

confidence: 99%

Robotic Assembly Sequence Planning and Optimization by Cuckoo Search Algorithm

Mishra¹,

Deb²

2018

dtetr

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The assembly sequence optimization problem is challenging as number of sequences rises staggeringly with part count making it combinatorically explosive, tedious and time consuming to solve. A Computer-Aided Process Planning (CAPP) system for robotic assembly by a discrete cuckoo search algorithm has been proposed by us to generate feasible and optimal sequences considering minimization of orientation changes, tool/gripper changes, assembly stability and base component location. A case study and comparison results with an established soft computing approach are presented to show its effectiveness. It is further integrated with an upstream assembly product database to extract information on assembly directions, contact details, assembly precedence constraints and tool/grippers. Further the assembly sequence output from CAPP system is integrated with a robot task planner developed using Knowledge Based System capable of automatically generating executable robot level program for performing the assembly.

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“…(2000), Hasegawa etc. (2000), Chen et al (1999), Hert and Lumelsky (1999), Egerstedt and Hu (2002), Mosemann and Wahl (2001), to name a few. All these algorithms are not suitable to our cleaning robot applications.…”

Section: Introductionmentioning

confidence: 99%