Archimedes: A system that plans and executes mechanical assemblies
Archimedes is a prototype mechanical assembly system which generates and executes robot assembly programs from a CAD model input. The system addresses the unrealized potential for flexibility in robotic mechanical assembly applications by automating the programming task. Input is a solid model of the finished assembly. 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 retargetable plan compiler converts the generic plan into code specific to an application environment. Execution of the compiled plan in a workcell containing an Adept Two robot, a vision system, and other parts handling equipment will be shown on videotape.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (USA)
- Sponsoring Organization:
- DOE/DP
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 6544942
- Report Number(s):
- SAND-90-2400C; CONF-9004243--1; ON: DE91000036
- Country of Publication:
- United States
- Language:
- English
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