Assembly Planning Considering a Posture of a Subassembly

Search of a Posture of a Subassembly to Avoid Collision Using Genetic Algorithm

Abstract

An automatic generation of assembly or disassembly sequences is a significant problem for assemblies using robot manipulators. We need to judge feasibility of assembly/disassembly tasks based on geometric information of products. In previous research, only translational motion of subassembly has been considered. However, there are many cases in which a subassembly can be separated from another subassembly using rotational motion.
In this paper, we propose a new algorithm with which we can search a posture of a subassembly to avoid collision with another subassembly. The algorithm is based on the Genetic Algorithm. The proposed method makes it possible to search a posture of a subassembly to realize assembly/disassembly tasks in a very short time.