Archimedes : An experiment in automating mechanical assembly

Conference · Mon Jan 01 00:00:00 EST 1990

OSTI ID:7170109

Strip, D ^[1]; Maciejewski, A A ^[2]

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1. Sandia National Labs., Albuquerque, NM (USA)
2. 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 Lab. (SNL-NM), Albuquerque, NM (United States)
• Sponsoring Organization: DOE/DP
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 7170109
• Report Number(s): SAND-89-2561C; CONF-900780-1; ON: DE90009001
• Resource Relation: Conference: ISRAM '90: international symposium on robotics and automation, Vancouver (Canada), 18-20 Jul 1990
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
36 MATERIALS SCIENCE
COMPUTER-AIDED MANUFACTURING
TECHNOLOGY ASSESSMENT
ANALOG SYSTEMS
AUTOMATION
CAMERAS
COMPUTERIZED SIMULATION
DATA PROCESSING
DATA TRANSMISSION
FEASIBILITY STUDIES
FLEXIBILITY
I CODES
IMPLEMENTATION
MACHINE TOOLS
MANIPULATORS
MECHANICAL PROPERTIES
MEMORY MANAGEMENT
MODULAR STRUCTURES
OPERATION
OPTIMIZATION
ORIENTATION
PERFORMANCE TESTING
PLANNING
REMOTE SENSING
ROBOTS
STABILITY
TASK SCHEDULING
THREE-DIMENSIONAL CALCULATIONS
VISION
COMMUNICATIONS
COMPUTER CODES
EQUIPMENT
LABORATORY EQUIPMENT
MANUFACTURING
MATERIALS HANDLING EQUIPMENT
PROCESSING
REMOTE HANDLING EQUIPMENT
SIMULATION
TENSILE PROPERTIES
TESTING
TOOLS
420200* - Engineering- Facilities
Equipment
& Techniques
990200 - Mathematics & Computers
360101 - Metals & Alloys- Preparation & Fabrication