Optimized Robotic Assembly Sequence Using ACO

2009 ◽  
Author(s):  
Surjit Sharma ◽  
Bibhuti Bhusan Biswal ◽  
Parameswar Dash ◽  
Bibhuti Bhusan Choudhury
Keyword(s):  
Robotic Assembly ◽  
Assembly Sequence

Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning

2019 ◽  
Vol 4 (2) ◽  
pp. 1416-1423 ◽  
Author(s):  
Ismael Rodriguez ◽  
Korbinian Nottensteiner ◽  
Daniel Leidner ◽  
Michael Kassecker ◽  
Freek Stulp ◽  
...  
Keyword(s):  
Assembly Sequence Planning ◽  
Robotic Assembly ◽  
Assembly Sequence ◽  
Sequence Planning

A novel concatenation method for generating optimal robotic assembly sequences

2015 ◽  
Vol 231 (10) ◽  
pp. 1966-1977 ◽  
Author(s):  
MVA Raju Bahubalendruni ◽  
Bibhuti Bhusan Biswal
Keyword(s):  
Computer Aided Design ◽  
Cost Effective ◽  
High Energy ◽  
Robotic Assembly ◽  
Computational Time ◽  
Assembly Sequence ◽  
Design Environment ◽  
Assembly Sequences ◽  
Computer Aided ◽  
Assembly Sequence Generation

Selection of optimized assembly sequence is significantly essential to achieve cost-effective manufacturing process. This paper presents a novel efficient methodology to generate cost-effective feasible robotic assembly sequences though concatenation of parts. Part concatenation process will be followed with liaison predicate test and feasibility predicate test. A unique method called bounding box method is described to test the feasibility predicate efficiently in the computer-aided design environment. Assembly indexing technique is proposed to filter the redundant assembly subsets with high energy in order to minimize the computational time. The cost of collision free assembling operation is considered by the weight and distance traveled by the part in the assembly environment to join with the mating part. The method is successful in finding feasible optimal assembly sequence without ignoring any possible assembly sequence and found to be efficient in solving computer-aided assembly sequence generation. The correctness of the methodology is illustrated with an example.

Automatic inference on stable robotic assembly sequences based upon the evaluation of base assembly motion instability

Robotica ◽  
1993 ◽  
Vol 11 (4) ◽  
pp. 351-362 ◽  
Author(s):  
D.Y. Cho ◽  
C.K. Shinf ◽  
H.S. Chot
Keyword(s):  
Robotic Assembly ◽  
Fixture Design ◽  
Assembly Sequence ◽  
Inference Method ◽  
New Approach ◽  
Assembly Sequences ◽  
Crucial Information ◽  
Part Motion ◽  
Selection Of

SUMMARYThe 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.

Integrated Multi-Robotic Assembly Planning for Improved Productivity

2011 ◽  
Vol 383-390 ◽  
pp. 6357-6362
Author(s):  
B.B. Choudhury ◽  
Bibhuti Bhusan Biswal
Keyword(s):  
Task Allocation ◽  
Optimal Allocation ◽  
Cost Effective ◽  
Integrated Approach ◽  
Robotic Assembly ◽  
Assembly Planning ◽  
Assembly Sequence ◽  
Optimum Result ◽  
Robot Systems ◽  
Assembly Sequence Generation

In product assembly, optimized sequence is a prerequisite for automated systems. The assembly process can be optimized through appropriate selection and allocation of the given tasks in a multi-device framework. These two discrete tasks need to be integrated to produce the optimum result and a cost effective system to cope with the needs of the system, the present work attempts to generate an automatic assembly sequence and seeks for optimal allocation of tasks amongst the available robots. Further, an effective task allocation approach considers the capabilities of the deployable robots. This paper presents an integrated approach for assembly sequence generation and task allocation for multi-robot systems by considering their capability in terms of time and space. An example of a 21 part drive assembly is given to illustrate the concept and procedure of the proposed methodology.

scholarly journals CAD-Based Automatic Clash Analysis for Robotic Assembly

2019 ◽  
Vol 4 (2) ◽  
pp. 432-441 ◽  
Author(s):  
Bala Murali Gunji ◽  
B. B. V. L. Deepak ◽  
Bijaya Kumar Khamari ◽  
Bibhuti Bhusan Biswal
Keyword(s):  
Mathematical Models ◽  
Manufacturing Process ◽  
Information Matrix ◽  
Search Space ◽  
Robotic Assembly ◽  
Assembly Sequence ◽  
Assembly Operation ◽  
Contact Information ◽  
Contact Data ◽  
Automatic Algorithm

Assembly operation occupies major stake in the manufacturing process to obtain the final product. In order to obtain an assembly sequence for a given product, the product should be free of clashes between the parts. To know the clash between the parts, many researchers are followed mathematical models to generate contact data information of the product. These methods will consume much time and search space to extract the information from the product. Current research focuses on developing an automatic algorithm to generate the clash analysis report using macros CATIA V5 R17. In this method, it will not only generate the clash analysis report but also generate a contact information matrix between the parts of the assembly. The developed methodology is implemented on various industrial products to extract the clash information of the product.

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