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Comparative topological modelling and analysis of assemblies and assembly systems-an aid in computerized assembly planning

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1 Author(s)
Almgren, R. ; Dept. of Mech. Eng., Linkoping Univ., Sweden

Recent findings in computerized assembly planning and robot task planning constitute a sound theoretical base for automatic programming of assembly robots. However, most research is limited to automatic programming of the stand-alone-robot type of assembly systems. The limitation is mainly due to the absence of two significant elements. The first element is a uniform model for the modeling of robotized assembly systems of numerous different types. The second element is a reasoning mechanism which deduces significant system properties from such a model. This paper introduces a general method of topological modeling of assembly systems. The method includes a procedure for comparing assembly system topologies and assembly sequences. This feature also provides the opportunity to verify the compatibility between the two. The method further provides a means to derive the organization of work as well as the principle of operation associated with a given assembly system

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994