Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Automatic assembling procedure generation from mating conditions
Computer-Aided Design
Simulated annealing: theory and applications
Simulated annealing: theory and applications
Introduction to Solid Modeling
Introduction to Solid Modeling
Gross motion planning—a survey
ACM Computing Surveys (CSUR)
On the automatic generation of plans for mechanical assembly
On the automatic generation of plans for mechanical assembly
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Abstract: In this paper, an analytic method is presented to find feasible disassembling trajectory if one exists. This approach assumes that the geometrical borders of the assembled components are electrostatically charged. Therefore joined components thrust each other in the direction of repulsive force from which the disassemblability can be verified. All the possible assembling sequences are derived by traversing the components with testing the assemblability starting from a base component. Moreover a simple function to evaluate each sequence based on the energy minimization viewpoint is proposed to suggest the safest assembling plan. Finally, a 3D experimental results are presented.