Correct assembly sequence for robotic assembly using motion instability and part contact-level graphs

摘要

Determination of correct and stable assembly sequence is a must for automated assembly systems. The present work is a novel approach for generation of robotic assembly precedence constraints using directional part contact-level. This contains the information on directional connections for each pair of mating components. The part motion instability is crucial to the determination of stable assembly sequence because this affects the dexterity of robots. An example is presented to illustrate the concepts and procedure of the proposed scheme. This method can be effectively used to generate stable robotic assembly sequences.