Lessons from Archimedes, a system for planning and executing mechanical assemblies
Archimedes is a prototype mechanical assembly system which generates and executes robot assembly programs from a CAD model input. The system seeks to increase flexibility in robotic mechanical assembly applications by automating the programming task. Input is a solid model of the finished assembly, augmented by additional design information such as weld specifications. Parts relationships and geometric constraints are deduced from the solid model. A rule-based planner generates a ``generic`` assembly plan that satisfies the geometric constraints, as well as other constraints embodied in the rules. A plan compiler then converts the generic plan into code specific to an application environment. Other outputs include fixture designs, workcell layout information, object-recognition (vision) routines, grasp plans, and executable code for controlling the robot and workcell accessories. Lessons from operating and demonstrating the system are presented, with a particular emphasis on the implications for future systems. 12 refs.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 10136653
- Report Number(s):
- SAND-92-0520C; CONF-920540-16; ON: DE92010957
- Resource Relation:
- Conference: 1992 Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics and automation,Nice (France),10-15 May 1992; Other Information: PBD: [1992]
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
42 ENGINEERING
MACHINE PARTS
COMPUTER-AIDED MANUFACTURING
AUTOMATION
ROBOTS
PLANNING
EFFICIENCY
VISION
320303
990200
420200
EQUIPMENT AND PROCESSES
MATHEMATICS AND COMPUTERS
FACILITIES, EQUIPMENT, AND TECHNIQUES