Orders > Conference proceedings > Product lifecycle management PLM'05
(from Chapter 7: Product Assembly and Design)
| Full Citation and Abstract
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Title: |
Progresses in assembly path planning |
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Author(s): |
Etienne Ferré, Jean-Paul Laumond, Gustavo Arechavaleta, Claudia Estevès |
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Address: |
KINEO C.A.M.
Prologue, BP 27201
31672 Labège
France
LAAS-CNRS
7 Avenue du Colonel Roche
31077 Toulouse
France
LAAS-CNRS
7 Avenue du Colonel Roche
31077 Toulouse
France
LAAS-CNRS
7 Avenue du Colonel Roche
31077 Toulouse
France
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Reference: |
PLM-SP1 - 2005 Proceedings, pp. 373 - 382 |
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Abstract/ Summary |
Part assembly path planning consists in computing automatically a collision-free path for the part between a disassembled position and an assembled one. The part is first considered as a free-flying object. We have devised a probabilistic diffusion algorithm specially dedicated to that case. Then, we propose two approaches to add a virtual mannequin in the assembly process. The first one consists in planning a path for the part alone and then using inverse kinematics operators to check the feasibility with the mannequin. The second one considers the part grasped by the mannequin as a single system. The diffusion algorithm is then applied on the whole articulated system. While the first approach performs faster, the second one is able to solve more constrained and difficult cases. Both solutions are based on a same path planning library allowing the user to easily evaluate the proposed solutions. Automotive industrial case studies are reported. |
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