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Assembly Automation
ISSN: 0144-5154
Online from: 1980
Subject Area: Mechanical & Materials Engineering
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Automatic generation of robot and manual assembly plans using octrees
| Title: | Automatic generation of robot and manual assembly plans using octrees |
|---|---|
| Author(s): | Hugo Medellin, (Area Mecanica y Electrica, Universidad Autonoma de San Luis Potosi, San Luis Potosi, Mexico), Jonathan Corney, (Design, Manufacture and Engineering Management, University of Strathclyde, Glasgow, UK), James Ritchie, (Mechanical Engineering, Heriot-Watt University, Edinburgh, UK), Theodore Lim, (Mechanical Engineering, Heriot-Watt University, Edinburgh, UK) |
| Citation: | Hugo Medellin, Jonathan Corney, James Ritchie, Theodore Lim, (2010) "Automatic generation of robot and manual assembly plans using octrees", Assembly Automation, Vol. 30 Iss: 2, pp.173 - 183 |
| Keywords: | Assembly, Automation, Manual handling, Robotics |
| Article type: | Research paper |
| DOI: | 10.1108/01445151011029817 (Permanent URL) |
| Publisher: | Emerald Group Publishing Limited |
| Acknowledgements: | This research work was supported by the EPSRC grant GR/R35285/01. The first author acknowledges the support from the Fund for Research Support (FAI) of the Universidad Autónoma de San Luis Potosí and the support from the PROMEP program of SEP in Mexico. |
| Abstract: | Purpose – This paper aims to investigate automatic assembly planning for robot and manual assembly. Design/methodology/approach – The octree decomposition technique is applied to approximate a computer-aided design model with an octree representation which is then used to generate robot and manual assembly plans. An assembly planning system able to generate assembly plans was developed to build these prototype models. Findings – Octree decomposition is an effective assembly planning tool. Assembly plans can automatically be generated for robot and manual assembly using octree models. Research limitations/implications – One disadvantage of the octree decomposition technique is that it approximates a part model with cubes instead of using the actual model. This limits its use and applications when complex assemblies must be planned, but in the context of prototyping can allow a rough component to be formed which can later be finished by hand. Practical implications – Assembly plans can be generated using octree decomposition, however, new algorithms must be developed to overcome its limitations. Originality/value – This paper has proved that the octree decomposition technique is an effective assembly planning tool. As a result, an assembly planning system has been developed. Assembly plans for automatic and manual assembly can be generated automatically by the proposed system, which is a novelty since there are no fully automatic assembly planning systems for manual assembly reported in the literature. |
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