Title: Correct assembly sequence for robotic assembly using motion instability and part contact-level graphs

Authors: B.B. Biswal, S. Sharma, P. Dash

Addresses: Department of Mechanical Engineering, National Institute of Technology, 769008 Rourkela, India. ' Department of Mechanical Engineering, National Institute of Technology, 769008 Rourkela, India. ' Department of Mechanical Engineering, Institute of Advanced Computer and Research, Rayagada, 765002 Orissa, India

Abstract: Determination of correct and stable assembly sequence is a must for automated assembly systems. The present work is a novel approach for generation of robotic assembly precedence constraints using directional part contact-level. This contains the information on directional connections for each pair of mating components. The part motion instability is crucial to the determination of stable assembly sequence because this affects the dexterity of robots. An example is presented to illustrate the concepts and procedure of the proposed scheme. This method can be effectively used to generate stable robotic assembly sequences.

Keywords: motion instability; stable assembly; part contact-level graphs; assembly constraints; adjacent matrix; assembly sequences; robotic assembly; automated assembly; robot dexterity.

DOI: 10.1504/IJCAT.2009.027864

International Journal of Computer Applications in Technology, 2009 Vol.36 No.2, pp.149 - 158

Available online: 13 Aug 2009 *

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