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Proceedings Paper

Force-based reasoning in assembly planning
Author(s): Sukhan Lee; Chunsik Yi
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Paper Abstract

Assembly planning based on force-based reasoning of decomposable subassemblies, clusters of parts that are naturally broken apart from an assembly by decomposition forces is presented. The proposed force-based approach does not depend on combinatorial cut-set enumerations, but it generates only the minimal cut-sets of force-flow networks through a max-flow/min-cut algorithm, which incurs only polynomial time complexity. The key features of the proposed approach are as follows: (1) force-flow networks are constructed from the liaison graph of an assembly to represent the maximum amount of forces that individual parts can deliver to their mating parts for the chosen disassembly directions, fixtured and grasped parts, and removable connectors, (2) decomposable subassemblies are identified from the minimal cut-sets of force- flow networks based on a max-flow/min-cut algorithm, (3) the assemblability of the identified decomposable subassemblies are evaluated based on a force-based stability analysis, and (4) planning is done by the recursive decomposition of an assembly into subassemblies and verification of its reversibility.

Paper Details

Date Published: 29 November 1993
PDF: 12 pages
Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993); doi: 10.1117/12.164958
Show Author Affiliations
Sukhan Lee, Jet Propulsion Lab. and Univ. of Southern California (United States)
Chunsik Yi, Univ. of Southern California (United States)


Published in SPIE Proceedings Vol. 2063:
Vision, Sensors, and Control for Automated Manufacturing Systems
Scott S. Breidenthal; Alan A. Desrochers, Editor(s)

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