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Microassembly Sequence and Path Planning using Sub-Assemblies

[+] Author and Article Information
Vinoth Venkatesan

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

Joseph Seymour

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

David J. Cappelleri

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

1Corresponding author.

ASME doi:10.1115/1.4041333 History: Received June 19, 2018; Revised August 21, 2018

Abstract

This paper presents a novel assembly sequence planning (ASP) procedure utilizing a sub-assembly based search algorithm (SABLS) for microassembly 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 sub-assemblies which can be assembled together. This is implemented using custom made micro-parts which fit together only in a pre-defined fashion. Once the ASP is done, the parts are manipulated from a cluttered space to their final positions in the sub-assemblies using a path-planning algorithm based on RRT*, a random-sampling based execution, and micro-manipulation motion primitives. The entire system is demonstrated by assembling LEGO inspired micro-parts into various configurations which involve sub-assemblies, showing the versatility of the system.

Copyright (c) 2018 by ASME
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