Symmetry groups in analysis of assembly kinematics

Yanxi Liu, Robin J. Popplestone

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

The use of symmetry groups in analysis of the kinematics aspects of assembly is described. The goal is to find how to assemble a product from a characterization of its final assembly configuration. From such an assembly configuration, a contact state lattice expressed in terms of the contacting faces of mating assembly components is generated. This contact state lattice contains all the partially ordered assembly motion sets (POAMS) that describe the intermediate contact states of an assembly component and the translational motions leading from one contact state to another. POAMS form a detailed task specification for a robot task-level planner and can be used for generating compliant control strategies. The work described forms part a kinematic assembly planning system that reasons about how parts with multiple contacting features fit together and generates assembly task specifications automatically from solid models using symmetry groups.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages572-577
Number of pages6
ISBN (Print)081862163X
StatePublished - Jan 1 1991
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: Apr 9 1991Apr 11 1991

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1

Other

OtherProceedings of the 1991 IEEE International Conference on Robotics and Automation
CitySacramento, CA, USA
Period4/9/914/11/91

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All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Liu, Y., & Popplestone, R. J. (1991). Symmetry groups in analysis of assembly kinematics. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 572-577). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Publ by IEEE.