Auto-Assembly: a framework for automated robotic assembly directly from CAD
Fedor Chervinskii, Sergei Zobov, Александр Рыбников, D. А. Petrov, Komal Vendidandi
Abstract
In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We show the flexibility of the approach by testing it on different input designs. Auto-Assembly consists of several parts: design analysis, assembly sequence generation, bill-of-process (BOP) generation, conversion of the BOP to control code, path planning, simulation, and execution of the control code to assemble parts in the physical environment.
Topics & Concepts
Modular designCADFlexibility (engineering)Assembly modellingRobotComputer scienceProcess (computing)Code (set theory)Code generationPath (computing)Engineering drawingMotion planningEmbedded systemControl engineeringEngineeringArtificial intelligenceOperating systemProgramming languageProduct (mathematics)GeometryKey (lock)StatisticsMathematicsSet (abstract data type)Manufacturing Process and OptimizationModular Robots and Swarm IntelligenceAdditive Manufacturing and 3D Printing Technologies