A framework for geometric reasoning about tools in assembly

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Description

When assembling a product, humans, robots, and other automation employ a variety of tools to manipulate, attach, and test parts and subassemblies. This paper proposes a framework lo represent and reason about geometric accessibility constraints for a wide variety of assembly tools. Central to the framework is a use volume encoding a minimum space that must be free in an assembly state to apply a given tool, and placement constraints on where that volume must be placed relative to the parts on which the tool acts. Determining whether a tool can be applied in a given assembly state is an ... continued below

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8 p.

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Wilson, R. H. December 31, 1995.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

When assembling a product, humans, robots, and other automation employ a variety of tools to manipulate, attach, and test parts and subassemblies. This paper proposes a framework lo represent and reason about geometric accessibility constraints for a wide variety of assembly tools. Central to the framework is a use volume encoding a minimum space that must be free in an assembly state to apply a given tool, and placement constraints on where that volume must be placed relative to the parts on which the tool acts. Determining whether a tool can be applied in a given assembly state is an instance of the FINDPLACE problem. In addition, we present more efficient methods lo integrate the framework into assembly planning. For tools that are applied either before or after their target parts are mated, one method preprocesses a single tool application for all possible states of assembly of a product. For tools applied after their target parts are mated, a complementary method guarantees polynomial-time assembly planning. We describe experiments with an initial implementation of the framework and a library of seven tools.

Physical Description

8 p.

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OSTI as DE96002071

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  • IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996

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  • Other: DE96002071
  • Report No.: SAND--95-2423C
  • Report No.: CONF-960448--5
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 204109
  • Archival Resource Key: ark:/67531/metadc664068

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • December 31, 1995

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

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  • April 13, 2016, 1:55 p.m.

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Wilson, R. H. A framework for geometric reasoning about tools in assembly, article, December 31, 1995; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc664068/: accessed October 19, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.