🚀 go-pugleaf

	USC Computer Science Colloquium


Title:  	Geometric Assembly Planning
Speaker:  	Randy Wilson, 
		Stanford University


Abstract:

        A good assembly plan is crucial for reliable, inexpensive assembly
of products.  Assembly sequencing, a subproblem of assembly planning,
considers only the constraints on assembly plans arising from the geometry
and physics of the product itself.  In this talk I consider the problem of
efficiently generating assembly sequences strictly from the geometry of a
goal assembly.
	Previous approaches to assembly sequencing have either been
incomplete or followed a generate-and-test approach that is impractical for
assemblies with many parts.  I introduce the non-directional blocking graph,
a succinct characterization of the blocking relationships between parts in
an assembly.  I describe polynomial-time algorithms to identify feasible
assembly operations by constructing and analyzing the NDBG for a product.
Several instances of the NDBG are given, each corresponding to a different
class of motions used to mate the parts.
	The algorithms have been implemented in GRASP, an experimental
testbed for assembly sequencing, and tested on industrial assemblies having
as many as 42 parts.  Experimental results are shown for the basic planner
and compared against the results when the more efficient methods are used.


Time:      Wednesday, November 25  10:30 AM
Location:  Seaver Science Auditorium
	
(Refreshments will be served.)