Archimedes : An experiment in automating mechanical assembly
- Sandia National Labs., Albuquerque, NM (USA)
- Purdue Univ., Lafayette, IN (USA). Dept. of Electrical Engineering
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. Using this model. Archimedes deduces geometric assembly constraints and then produces an assembly plan that satisfies the geometric constraints, as well as other constraints such as stability and accessibility. A retargetable plan compiler converts the generic plan into robot and cell specific code, including recognition routines for a vision system. In the prototype system the code is executed in a workcell containing an Adept Two robot, a vision system, and other parts handling equipment. 8 refs., 2 figs.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (USA)
- Sponsoring Organization:
- DOE/DP
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 7170109
- Report Number(s):
- SAND-89-2561C; CONF-900780--1; ON: DE90009001
- Country of Publication:
- United States
- Language:
- English
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ANALOG SYSTEMS
AUTOMATION
CAMERAS
COMMUNICATIONS
COMPUTER CODES
COMPUTER-AIDED MANUFACTURING
COMPUTERIZED SIMULATION
DATA PROCESSING
DATA TRANSMISSION
EQUIPMENT
FEASIBILITY STUDIES
FLEXIBILITY
I CODES
IMPLEMENTATION
LABORATORY EQUIPMENT
MACHINE TOOLS
MANIPULATORS
MANUFACTURING
MATERIALS HANDLING EQUIPMENT
MECHANICAL PROPERTIES
MEMORY MANAGEMENT
MODULAR STRUCTURES
OPERATION
OPTIMIZATION
ORIENTATION
PERFORMANCE TESTING
PLANNING
PROCESSING
REMOTE HANDLING EQUIPMENT
REMOTE SENSING
ROBOTS
SIMULATION
STABILITY
TASK SCHEDULING
TECHNOLOGY ASSESSMENT
TENSILE PROPERTIES
TESTING
THREE-DIMENSIONAL CALCULATIONS
TOOLS
VISION