Effect of Considering Secondary Parts as Primary Parts for Robotic Assembly Using Stability Graph

摘要

Robotic assembly sequence generation requires many assembly predicates to generate optimal assembly sequences. Achievingsuch optimal assembly sequences is difficult as it requires huge search space. In the past literature, most of the researcherstry to reduce the search space of assembly sequence planning problem by applying different methods such as computer-aideddesign-based methods, knowledge-based methods and artificial intelligence-based methods in terms of execution time andnumber of iterations by considering secondary parts (nuts, bolts, washers, fits, etc.). In this paper, stability graph concept hasbeen introduced to represent the secondary part information for generating optimal assembly sequences. A comparison hasbeen made without fruit fly in terms of execution time and number of iterations while generating optimal assembly sequenceswith and without consideration of secondary parts as primary parts. To check the effectiveness of the proposed method, threedifferent industrial products with eight parts, 19 parts and 22 parts are considered for generating optimal assembly sequences.