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Optimal robotic assembly sequence planning with tool integrated assembly interference matrix

Published online by Cambridge University Press:  18 January 2023

Chiranjibi Champatiray Open the ORCID record for Chiranjibi Champatiray [Opens in a new window] ,
M. V. A. Raju Bahubalendruni Open the ORCID record for M. V. A. Raju Bahubalendruni [Opens in a new window] ,
Rabindra Narayan Mahapatra  and
Debasisha Mishra
Chiranjibi Champatiray*
Affiliation:
Department of Mechanical Engineering, National Institute of Technology Meghalaya, Shillong, India
M. V. A. Raju Bahubalendruni
Affiliation:
Department of Mechanical Engineering, National Institute of Technology Puducherry, Karaikal, India
Rabindra Narayan Mahapatra
Affiliation:
Department of Mechanical Engineering, National Institute of Technology Meghalaya, Shillong, India
Debasisha Mishra
Affiliation:
Department of Strategic Management, Indian Institute of Management Shillong, Shillong, India
*
Author for correspondence: Chiranjibi Champatiray, E-mail: chiranjibi@nitm.ac.in
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Abstract

Manufacturing industries are looking for efficient assembly planners that can swiftly develop a practically feasible assembly sequence while keeping costs and time to a minimum. Most assembly sequence planners rely on part relations in the virtual environment. Nowadays, tools and robotic grippers perform most of the assembly tasks. Ignoring the critical aspect renders solutions practically infeasible. Additionally, it is vital to test the feasibility of positioning and assembling components while employing robotic grippers and tools prior to their implementation. This paper presents a novel concept named by considering both part and tool geometry to propose “tool integrated assembly interference matrices” (TIAIMs) and a “tool integrated axis-aligned bounding box” (TIAABB) to generate practically feasible assembly sequence plans. Furthermore, the part-concatenation technique is used to determine the best assembly sequence plans for an actual mechanical component. The results show that the proposed approach effectively and efficiently deals with real-life industrial problems.

Keywords

CAD-based feasible solutionindustry 4.0robotic assembly sequence planningrobotic grippertool integrated axis-aligned bounding box

Information

Type
Research Article
Information
AI EDAM , Volume 37 , 2023 , e4
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Copyright
Copyright © The Author(s), 2023. Published by Cambridge University Press

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