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Research Papers

Micro-Assembly Sequence and Path Planning Using Subassemblies

[+] Author and Article Information
Vinoth Venkatesan

Multi-Scale Robotics and Automation Lab,
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: venkat26@purdue.edu

Joseph Seymour

Multi-Scale Robotics and Automation Lab,
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: jseymour6762@gmail.com

David J. Cappelleri

Multi-Scale Robotics and Automation Lab,
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: dcappell@purdue.edu

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received June 19, 2018; final manuscript received August 21, 2018; published online October 5, 2018. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 10(6), 061015 (Oct 05, 2018) (12 pages) Paper No: JMR-18-1180; doi: 10.1115/1.4041333 History: Received June 19, 2018; Revised August 21, 2018

This paper presents a novel assembly sequence planning (ASP) procedure utilizing a subassembly based search algorithm (SABLS) for micro-assembly applications involving geometric and other assembly constraints. The breakout local search (BLS) algorithm is adapted to provide sequencing solutions in assemblies with no coherent solutions by converting the final assembly into subassemblies which can be assembled together. This is implemented using custom-made microparts which fit together only in a predefined fashion. Once the ASP is done, the parts are manipulated from a cluttered space to their final positions in the subassemblies using a path-planning algorithm based on rapidly exploring random tree (RRT*), a random-sampling based execution, and micromanipulation motion primitives. The entire system is demonstrated by assembling LEGO® inspired microparts into various configurations which involve subassemblies, showing the versatility of the system.

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Figures

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Fig. 1

System Overview. (a) Micromanipulation and assembly setup; (b) image from the inverted optical microscope providing a view of the workspace with the probes and a micropart; and (c) zoomed-in view demonstrating the footprint of the micropart.

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Fig. 2

(a) A rectangle-shaped assembly showing the individual labeled parts, (b) AIM for this assembly along the +x direction, (c) subassembly 1 (considered as a single part in the entire assembly), and (d) optimal assembly plan sequence using subassemblies

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Fig. 3

Perturbation operations with the starting assembly sequence on the left and the perturbed sequence on the right: (a) flip; (b) exchange; (c) insertion; and (d) inversion

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Fig. 4

Algorithm flow comparing BLS and the proposed SABLS solution

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Fig. 5

(a) Caging operation using four manipulators with the geometric center of the part (xc, yc) inside the caging polygon and (b) OSP on the micropart using manipulators 1 and 3 along the +x direction (The part is in its final position)

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Fig. 6

Initial subassembly sequence for the rectangle assembly

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Fig. 7

Workflow for the SABLS-based manipulation system

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Fig. 8

Segmented part bin showing a randomly chosen part (with a red contour) and obstacles (inside green boxes)

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Fig. 9

Different assemblies used for experiments: (a) barbell, (b) filled square, (c) rectangle, and (d) P-shaped

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Fig. 10

Barbell assembly showing only the final push operations for the assembly. (a) and (b) The first part (P1) fixed in the assembly with the second part (P2) being moved along the +x direction using an OSP operation; and (c) final part (P3) in the assembly being pushed into its final position.

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Fig. 11

Filled square assembly with the subassemblies being assembled as separate parts

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Fig. 12

(a) First part of the assembly already in place consisting of parts P1 to P5, (b) subassembly 1 (SA1) in the storage bin (toward the left of the workspace), (c) path-planning showing optimal path for the subassembly to its prefinal position; and (d) completed assembly after an OSP operation on SA1

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Fig. 13

SA1 subassembly generation for the P-shaped assembly

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Fig. 14

Completing the P-shaped assembly

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