Orienting polyhedral parts by pushing

Authors:
Robert-Paul Berretty;Mark H. Overmars;A. Frank van der Stappen
Affiliations:
Department of Computer Science, The University of North Carolina at Chapel Hill, Campus Box 3175, Sitterson Hall, Chapel Hill, NC 27599-3175, USA;Institute of Information and Computing Sciences, Utrecht University, PO Box 80089, 3508 TB Utrecht, The Netherlands;Institute of Information and Computing Sciences, Utrecht University, PO Box 80089, 3508 TB Utrecht, The Netherlands
Venue:
Computational Geometry: Theory and Applications - Special issue on: Sixteenth European Workshop on Computational Geometry (EUROCG-2000)
Year:
2002

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Abstract

A common task in automated manufacturing processes is to orient parts prior to assembly. We consider sensorless orientation of an asymmetric polyhedral part by a sequence of push actions, and show that is it possible to move any such part from an unknown initial orientation into a known final orientation if these actions are performed by a jaw consisting of two orthogonal planes. We also show how to compute an orienting sequence of push actions.We propose a three-dimensional generalization of conveyor belts with fences consisting of a sequence of tilted plates with curved tips; each of the plates contains a sequence of fences. We show that it is possible to compute a set-up of plates and fences for any given asymmetric polyhedral part such that the part gets oriented on its descent along plates and fences.