Agile assembly architecture: an agent based approach to modular precision assembly systems

This paper presents our initial thoughts on the design of an architecture for highly flexible, modular, and distributed precision assembly systems. Through the use of a unified design, simulation, programming, and monitoring environment coupled with self-representing cooperative agents, this architecture will significantly simplify the process of factory design and deployment. Our demonstration of this architecture takes the form of a "table top" sized assembly system targeted at the partial assembly of high-density magnetic storage devices.

[1]  Yangsheng Xu,et al.  Force characterization and commutation of planar linear motors , 1997, Proceedings of International Conference on Robotics and Automation.

[2]  Ralph L. Hollis,et al.  An Architecture for Agile Assembly , 1995 .

[3]  Ken Goldberg,et al.  A complete algorithm for designing passive fences to orient parts , 1997 .

[4]  Geoffrey Boothroyd,et al.  Handbook of feeding and orienting techniques for small parts , 1976 .

[5]  David J. Musliner,et al.  World Modeling for the Dynamic Construction of Real-Time Control Plans , 1995, Artif. Intell..

[6]  Ralph L. Hollis,et al.  Cooperative 2-DOF robots for precision assembly , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  Bradley J. Nelson,et al.  USING HYPERMEDIA AND RECONFIGURABLE SOFTWARE ASSEMBLY TO SUPPORT VIRTUAL LABORATORIES AND FACTORIES , 1994 .

[8]  Daniel E. Koditschek,et al.  Sequential Composition of Dynamically Dexterous Robot Behaviors , 1999, Int. J. Robotics Res..

[9]  M. S. Bloor,et al.  STEP-standard for the exchange of product model data , 1991 .

[10]  Ralph L. Hollis,et al.  Magnetic and optical-fluorescence position sensing for planar linear motors , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.