The Archimedes 2 mechanical assembly planning system
We describe the implementation and performance of Archimedes 2, an integrated mechanical assembly planning system. Archimedes 2 includes two planners, two assembly sequence animation facilities, and an associated robotic workcell. Both planners use full 3 dimensional data. A rudimentary translator from high level assembly plans to control code for the robotic workcell has also been implemented. We can translate data from a commercial CAD system into input data for the system, which has allowed us to plan assembly sequences for many industrial assemblies. Archimedes 2 has been used to plan sequences for assemblies consisting of 5 to 109 parts. We have also successfully taken a CAD model of an assembly, produced an optimized assembly sequence for it, and translated the plan into robot code, which successfully assembles the device specified in the model.
- Research Organization:
- Centaur Associates, Inc., Washington, DC (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 230568
- Report Number(s):
- SAND--96-0396C; CONF-960448--12; ON: DE96006473
- Country of Publication:
- United States
- Language:
- English
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