AUTOMATIC INFERENCE ON STABLE ROBOTIC ASSEMBLY SEQUENCES BASED UPON THE EVALUATION OF BASE ASSEMBLY MOTION INSTABILITY

被引：8

作者：

CHO, DY

SHIN, CK

CHO, HS

机构：

[1] Section Manager Maintenance Technical Research Office, Pohang Iron and Steel Co. Ltd., Pohang

[2] Department of Precision Eng. and Mechaironics, Advanced Institute of Science and Technology, Cheongryang, Seoul

来源：

ROBOTICA | 1993年 / 11卷

关键词：

STABLE SEQUENCE; MOTION INSTABILITY; BASE ASSEMBLY; AUTOMATIC INFERENCE;

D O I：

10.1017/S0263574700016611

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The consideration of part motion instability is crucial to the determination of assembly sequence since this affects the complexity of fixtures and dexterity of robots. This paper presents a new approach to the inference of robotic assembly sequences, taking into consideration the instability of base assembly motions. Based upon the evaluation of motion instability, the method generates stable assembly sequences by use of the precedence constraint inference method previously developed by the authors. An example assembly of a 10-part electrical relay is given to illustrate the concepts and procedure of the proposed scheme. The results show that the proposed method can be effectively utilized to generate stable assembly sequences, thus providing crucial information on the fixture design and selection of types of assembly robots.

引用

页码：351 / 362

页数：12

共 13 条

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