Disassembly sequencing using a motion planning approach /
A new approach for generating disassembly sequences using path planning techniques used in robotics is presented here. The motion planning based approach treats the parts in the assembly as robots and operates in the composite configuration space of the parts' individual configuration spaces. R...
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| Format: | Thesis Book |
| Language: | English |
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[Place of publication not identified] :
[publisher not identified] ;
2000.
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| Summary: | A new approach for generating disassembly sequences using path planning techniques used in robotics is presented here. The motion planning based approach treats the parts in the assembly as robots and operates in the composite configuration space of the parts' individual configuration spaces. Randomized techniques inspired by recent methods proposed for motion planning are used to sample configurations in this space. Although a purely randomized approach to sampling is successful in systems with a small number of parts, typical assemblies consist of numerous parts and the corresponding composite C-spaces have high dimensionality. In such cases, a completely randomized sampling approach would be ineffective since many important configurations for the disassembly sequence will involve closely packed parts, i.e., the disassembly sequence will pass through narrow passages in the C-space. One solution to this problem is to bias the sampling by computing potential movement directions based on the geometric characteristics of configurations known to be reachable from the assembled configuration (the start). For example, potential directions which are perpendicular to part faces are selected. Thus, the disassembly algorithm constructs a disassembly tree which is rooted at the starting assembled configuration. The experimental results with several non-trivial puzzle-like assemblies show the potential of this approach. |
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| Item Description: | Vita. "Major subject: Mechanical Engineering". |
| Physical Description: | viii, 42 leaves : illustrations ; 28 cm. Issued also on microfiche from Lange Micrographics. |
| Bibliography: | Includes bibliographical references (leaves 38-41). |