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The Archimedes 2 mechanical assembly planning system

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5 Author(s)
S. G. Kaufman ; Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA ; R. H. Wilson ; R. E. Jones ; T. L. Calton
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We describe the implementation and performance of Archimedes 2, an integrated mechanical assembly planning system. Archimedes 2 includes two planners, two assembly sequence animation facilities, and an associated robotic workcell. Both planners use fully 3 dimensional data. A rudimentary translator from high level assembly plans to control code for the robotic workcell has also been implemented. We can translate data from a commercial CAD system into input data for the system, which has allowed us to plan assembly sequences for many industrial assemblies. Archimedes 2 has been used to plan sequences for assemblies consisting of 5 to 109 parts. We have also successfully taken a CAD model of an assembly, produced an optimized assembly sequence for it, and translated the plan into robot code, which successfully assembles the device specified in the model

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996