Path‐planning techniques for the simulation of disassembly tasks

Purpose – This paper aims to develop path‐planning techniques that support a general selective disassembly planner in a virtual reality environment.Design/methodology/approach – The paper presents an automatic selective disassembly planning and two path‐planning techniques that support it. The first one is based on single translations, while the second is based on the generation of a random search tree. The methods used have been adapted and modified from available robotic path‐planning methods for their use in disassembly path planning.Findings – The paper finds that the proposed techniques are applicable to the automatic generation of disassembly sequences.Research limitations/implications – The paper provides an automatic tool that can be integrated in simulation software for the analysis and validation of disassembly operation.Practical implications – Maintenance operations have a great impact in the security and life expectancy of any product. This is especially true for some applications such as aer...

[1]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[2]  Diego Borro,et al.  Description of a haptic system for virtual maintainability in aeronautics , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Jing-Rong Li,et al.  Desktop virtual reality for maintenance training: an object oriented prototype system (V-REALISM) , 2003, Comput. Ind..

[4]  Enrico Pagello,et al.  On Parallel RRTs for Multi-robot Systems , 2002 .

[5]  Jean-Claude Latombe,et al.  Motion Planning: A Journey of Robots, Molecules, Digital Actors, and Other Artifacts , 1999, Int. J. Robotics Res..

[6]  Pat Hanrahan,et al.  Designing effective step-by-step assembly instructions , 2003, ACM Trans. Graph..

[7]  Lydia E. Kavraki,et al.  On the Complexity of Assembly Partitioning , 1993, CCCG.

[8]  Rafael M. Gasca,et al.  A Genetic Algorithm for Assembly Sequence Planning , 2003, IWANN.

[9]  Steven M. LaValle,et al.  Randomized Kinodynamic Planning , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[10]  Randall H. Wilson,et al.  On geometric assembly planning , 1992 .

[11]  Christiaan J. J. Paredis,et al.  Intelligent Assembly Modeling and Simulation , 2001 .

[12]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[13]  Randall H. Wilson,et al.  The Archimedes 2 mechanical assembly planning system , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[14]  R. Gadh,et al.  A non-interfering selective disassembly sequence for components with geometric constraints , 2002 .

[15]  S. LaValle,et al.  Randomized Kinodynamic Planning , 2001 .

[16]  Diego Borro,et al.  A large haptic device for aircraft engine maintainability , 2004, IEEE Computer Graphics and Applications.

[17]  Ajd Fred Lambert,et al.  Disassembly sequencing: A survey , 2003 .

[18]  Manuela M. Veloso,et al.  Real-time randomized path planning for robot navigation , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.