組立/分解作業計画の作成支援に関する研究 : 2次元組立品の幾何形状モデルから分解可能な部分組立品を抽出する方法

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One of the most fundamental problems in computer-aided generation of assembly/disassembly sequences of mechanical products is to find geometrically separable subassemblies from geometric models of the products. This paper presents a polynomial time algorithm for finding the geometrically separable subassemblies. The algorithm takes Max {O(N^2_pN_v log N_v), O(N^4_p)} time, where N_p is the number of component parts, N_p the number of vertices of each component part. In the algorithm, first, region of all directions along which each component part is able to move to infinity without colliding with other parts are found. Next, disassembly precedence relations for avoiding geometrical interference between component parts are generated. The precedence relations are represented by directed graphs. Then geometrically separable subassemblies are detected by finding strongly connected components of the directed graphs. The algorithm guarantees that it detects a geometrically separable subassembly whenever such one exists.
2001-06-25