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29 November 1993 Force-based reasoning in assembly planning
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Proceedings Volume 2063, Vision, Sensors, and Control for Automated Manufacturing Systems; (1993)
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States
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.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Sukhan Lee and Chunsik Yi "Force-based reasoning in assembly planning", Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993);


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