This paper presents a novel assembly sequence planning (ASP) procedure utilizing a subassembly based search algorithm (SABLS) for micro-assembly applications involving geometric and other assembly constraints. The breakout local search (BLS) algorithm is adapted to provide sequencing solutions in assemblies with no coherent solutions by converting the final assembly into subassemblies which can be assembled together. This is implemented using custom-made microparts which fit together only in a predefined fashion. Once the ASP is done, the parts are manipulated from a cluttered space to their final positions in the subassemblies using a path-planning algorithm based on rapidly exploring random tree (RRT*), a random-sampling based execution, and micromanipulation motion primitives. The entire system is demonstrated by assembling LEGO® inspired microparts into various configurations which involve subassemblies, showing the versatility of the system.
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December 2018
Research-Article
Micro-Assembly Sequence and Path Planning Using Subassemblies
Vinoth Venkatesan,
Vinoth Venkatesan
Multi-Scale Robotics and Automation Lab,
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: venkat26@purdue.edu
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: venkat26@purdue.edu
Search for other works by this author on:
Joseph Seymour,
Joseph Seymour
Multi-Scale Robotics and Automation Lab,
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: jseymour6762@gmail.com
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: jseymour6762@gmail.com
Search for other works by this author on:
David J. Cappelleri
David J. Cappelleri
Multi-Scale Robotics and Automation Lab,
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: dcappell@purdue.edu
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: dcappell@purdue.edu
Search for other works by this author on:
Vinoth Venkatesan
Multi-Scale Robotics and Automation Lab,
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: venkat26@purdue.edu
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: venkat26@purdue.edu
Joseph Seymour
Multi-Scale Robotics and Automation Lab,
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: jseymour6762@gmail.com
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: jseymour6762@gmail.com
David J. Cappelleri
Multi-Scale Robotics and Automation Lab,
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: dcappell@purdue.edu
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: dcappell@purdue.edu
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received June 19, 2018; final manuscript received August 21, 2018; published online October 5, 2018. Assoc. Editor: Robert J. Wood.
J. Mechanisms Robotics. Dec 2018, 10(6): 061015 (12 pages)
Published Online: October 5, 2018
Article history
Received:
June 19, 2018
Revised:
August 21, 2018
Citation
Venkatesan, V., Seymour, J., and Cappelleri, D. J. (October 5, 2018). "Micro-Assembly Sequence and Path Planning Using Subassemblies." ASME. J. Mechanisms Robotics. December 2018; 10(6): 061015. https://doi.org/10.1115/1.4041333
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