形状処理を用いた製品の組立・分解手順の導出

概要

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An automatic generation of assembly or disassembly sequences is a significant problem for assemblies using robot manipulators. The problem can be separated into two stages: (1) generation of all assembly/disassembly sequences, and (2) decision of optimal sequence. For stage (2), efficient strategies based on the AND/OR graph have been proposed. However, for stage (1), no efficient technique has been proposed yet. In this paper, we propose a method to examine disassembly task feasibility without searching whole space, in order to generate assembly or disassembly sequences. First, the C-Obstacle is extended to one with an attribute of "shape". Second, a necessary and sufficient condition for judging feasibility of disassembly tasks using the C-Obstacle shape is proposed. Third, we propose a concrete algorithm for C-Obstacle generation. Fourth, an efficient examination method for the generated sequences is described. Finally, we show a simple example.
一般社団法人日本機械学会の論文
1997-05-25