Improving assembly precedence constraint generation by utilizing motion planning and part interaction clusters

Toward Safe Human Robot Collaboration by Using Multiple Kinects Based Real-Time Human Tracking

“…The task consists of assembling the parts of a simplified chassis assembly consisting of the following parts: Main chassis, a center roll bar, a rear brace, two radio boxes, and four screws. An assembly planning system developed in our earlier work [19] takes a 3D CAD model of the assembly and automatically generates an assembly sequence that drives the task sequence of the robot.…”

Decomposition approach to optimal feature-based assembly planning

“…More specifically, in assembly planning a number of various aspects such as product structure and variety [1], assembly technology, fixturing and tooling [2], part stability [3], handling of rigid and elastic parts [4], tolerances and quality, path of movements [5], capabilities and skills of workers, ergonomics [6], as well as costs and setup times [1] have to be considered and consolidated. While engineering tradition and common sense suggests that there could be no single model for incorporating all the above issues, some general principles apply well: (i) Hierarchical decomposition elevates sequencing and resource assignment decisions to the level of macro planning and refers the handling of other details to micro planning [7] [8].…”

“…Microlevel concerns are typically respected as pieces of advice in form of special constraints, giving up this way the completeness and sometimes even the satisfiability of the planning problem. All this requires custom-tailored (re)solution methods [5][12] [13].…”

Metodología para la generación y evaluación multicriterio de soluciones conceptuales de diseño de líneas de montaje final de producto en el sector aeronáutico

“…Las de carácter físico se manifiestan como colisiones entre componentes cuando se intentan "desensamblar" según secuencias no factibles [28][29] [61]. Estas colisiones pueden ser detectadas según numerosos métodos ya implementados en los sistemas CAM actuales [27][30] [61].…”

“…Las secuencias factibles se generan automáticamente, evaluando los subconjuntos que pueden ser desmontados en cada paso. Para limitar el número de soluciones se asume que cada operación sólo une dos conjuntos de piezas y que existe un componente base sobre el que se ensamblará el resto [27].…”