Abstract
We consider the following problem that arises in assembly planning: given an assembly, identify a sub-assembly that can be removed as a rigid object without disturbing the rest of the assembly. This is the assembly partitioning problem. Specifically, we consider planar assemblies of simple polygons and sub-assembly removal paths consisting of a single finite translation followed by a translation to infinity. Such paths are typical of the capabilities of simple actuators in fixed automation and other high-volume assembly machines. We present a polynomial-time algorithm to identify such a subassembly and removal path. We discuss extending the algorithm to 3D, other types of motions typical in non-robotic automated assembly, and motions consisting of more than two translations.
| Original language | English |
|---|---|
| Pages (from-to) | 1585-1592 |
| Number of pages | 8 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - 1995 |
| Externally published | Yes |
| Event | Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn Duration: 21 May 1995 → 27 May 1995 |