CARA system Architecture - A Click and Assemble Robotic Assembly System

Fakhurldeen, Hatem; Dailami, Farid; Pipe, Anthony G.

doi:10.1109/icra.2019.8794114

Cited by 10 publications

(2 citation statements)

References 28 publications

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“…Integrating the whole RAD pipeline into an end-to-end system such as click-and-assemble RA [175] is a promising direction. It should enable the user to operate the system remotely using solely a Computer Aided Design file, where the necessary calculations and preparations for e.g.…”

Section: Discussionmentioning

confidence: 99%

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

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Despite their contributions to the financial efficiency and environmental sustainability of industrial processes, robotic assembly and disassembly have been understudied in the existing literature. This is in contradiction to their importance in realizing the Fourth Industrial Revolution. More specifically, although most of the literature has extensively discussed how to optimally assemble or disassemble given products, the role of other factors has been overlooked. For example, the types of robots involved in implementing the sequence plans, which should ideally be taken into account throughout the whole chain consisting of design, assembly, disassembly and reassembly. Isolating the foregoing operations from the rest of the components of the relevant ecosystems may lead to erroneous inferences toward both the necessity and efficiency of the underlying procedures. In this paper we try to alleviate these shortcomings by comprehensively investigating the state-of-the-art in robotic assembly and disassembly. We consider and review various aspects of manufacturing and remanufacturing frameworks while particularly focusing on their desirability for supporting a circular economy.

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Section: Discussionmentioning

confidence: 99%

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

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“…Robotic assembly is a classical research topic in robotics. Many studies have been conducted to construct assembly sequences based on the geometrical relationships of assembly parts [3][4][5] [6]. More recently, researchers have been focused on combining robotic manipulation planning with assembly task planning.…”

Section: Related Workmentioning

confidence: 99%

Assembly Planning by Recognizing a Graphical Instruction Manual

Sera¹,

Yamanobe²,

Ramirez-Alpizar³

et al. 2021

Preprint

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This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. Essentially, the method generates an Assembly Task Sequence Graph (ATSG) by recognizing a graphical instruction manual. An ATSG is a graph describing the assembly task procedure by detecting types of parts included in the instruction images, completing the missing information automatically, and correcting the detection errors automatically. To build an ATSG, the proposed method first extracts the information of the parts contained in each image of the graphical instruction manual. Then, by using the extracted part information, it estimates the proper work motions and tools for the assembly task. After that, the method builds an ATSG by considering the relationship between the previous and following images, which makes it possible to estimate the undetected parts caused by occlusion using the information of the entire image series. Finally, by collating the total number of each part with the generated ATSG, the excess or deficiency of parts are investigated, and task procedures are removed or added according to those parts. In the experiment section, we build an ATSG using the proposed method to a graphical instruction manual for a chair and demonstrate the action sequences found in the ATSG can be performed by a dualarm robot execution. The results show the proposed method is effective and simplifies robot teaching in automatic assembly.

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Robotic Assembly with Deformable Objects

Shneor,

Berman

2023

Automation, Collaboration, &Amp; E-Services

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CARA system Architecture - A Click and Assemble Robotic Assembly System

Cited by 10 publications

References 28 publications

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Assembly Planning by Recognizing a Graphical Instruction Manual

Robotic Assembly with Deformable Objects

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