A geometric algorithm for single selective disassembly using the wave propagation abstraction

Disassembling a selected component from an assembly, defined as selective disassembly, is important for applications such as maintenance, recycling and reuse. This paper presents a geometric algorithm to solve the following selective disassembly problem: given an assembly and a selected component to be disassembled, determine the disassembly sequence with minimum component removals (motions), defined as an optimum sequence. We propose an abstraction “wave propagation” that analyzes the assembly from the selected component outwards, and orders the components for selective disassembly. The main contributions of this research are: (1) determining an optimal disassembly sequence; (2) reducing the search space by analyzing a subset of components in the assembly; and (3) providing a polynomial average complexity algorithm. The proposed selective disassembly approach applies to both two dimensional and three-dimensional assemblies.

[1]  Ronald L. Rivest,et al.  Introduction to Algorithms , 1990 .

[2]  Rajit Gadh,et al.  A framework for virtual disassembly analysis , 1997, J. Intell. Manuf..

[3]  Jan Wolter,et al.  A structure-oriented approach to assembly sequence planning , 1997, IEEE Trans. Robotics Autom..

[4]  Jean-Claude Latombe,et al.  Assembly sequencing with toleranced parts , 1997, Comput. Aided Des..

[5]  Thomas L. DeFazio,et al.  Simplified generation of all mechanical assembly sequences , 1987, IEEE Journal on Robotics and Automation.

[6]  Tony C. Woo,et al.  Visibility maps and spherical algorithms , 1994, Comput. Aided Des..

[7]  Rajit Gadh,et al.  Destructive disassembly to support virtual prototyping , 1998 .

[8]  Micha Sharir,et al.  Efficient generation of k-directional assembly sequences , 1996, SODA '96.

[9]  Yangsheng Xu,et al.  Generation of partial medial axis for disassembly motion planning , 1991, Conference Proceedings 1991 IEEE International Conference on Systems, Man, and Cybernetics.

[10]  Ralph R. Martin,et al.  Disassembly sequences for objects built from unit cubes , 1993, Comput. Aided Des..

[11]  Thomas L. DeFazio,et al.  An integrated computer aid for generating and evaluating assembly sequences for mechanical products , 1991, IEEE Trans. Robotics Autom..

[12]  Pradeep K. Khosla,et al.  Finding all stable orientations of assemblies with friction , 1996, IEEE Trans. Robotics Autom..

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

[14]  Lydia E. Kavraki,et al.  Two-Handed Assembly Sequencing , 1995, Int. J. Robotics Res..

[15]  Gary R. Bertoline,et al.  Engineering Graphics Communication , 1995 .

[16]  Tomás Lozano-Pérez,et al.  A Geometric Modeling System for Automated Mechanical Assembly , 1980, IBM J. Res. Dev..

[17]  Jean-Claude Latombe,et al.  Geometric Reasoning About Mechanical Assembly , 1994, Artif. Intell..

[18]  Rajit Gadh,et al.  A virtual disassembly tool to support environmentally conscious product design , 1997, Proceedings of the 1997 IEEE International Symposium on Electronics and the Environment. ISEE-1997.

[19]  Sukhan Lee,et al.  Assembly planning based on geometric reasoning , 1990, Comput. Graph..

[20]  Sukhan Lee,et al.  Computer-Aided Mechanical Assembly Planning , 1991 .

[21]  Michael H. Goldwasser,et al.  AN EFFICIENT SYSTEM FOR GEOMETRIC ASSEMBLY SEQUENCE GENERATION AND EVALUATION , 1995 .

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

[23]  Arthur C. Sanderson,et al.  Representations of mechanical assembly sequences , 1991, IEEE Trans. Robotics Autom..

[24]  Rajeev Motwani,et al.  Complexity measures for assembly sequences , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[25]  David L. Goetsch,et al.  Technical Drawing , 1994 .

[26]  D. Dutta,et al.  Automatic Disassembly and Total Ordering in Three Dimensions , 1991 .