Disassembly movements for geometrical objects through heuristic methods

Jorge Pomares Baeza; Fernando Torres Medina; Santiago Puente Mendez

doi:10.1117/12.455266

11 February 2002 Disassembly movements for geometrical objects through heuristic methods

Jorge Pomares Baeza, Fernando Torres Medina, Santiago Puente Mendez

Proceedings Volume 4569, Environmentally Conscious Manufacturing II; (2002) https://doi.org/10.1117/12.455266
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

This paper presents a non-destructive disassembly method. It tries to make up for limitations of other methods based on contact surfaces. It uses a contact surfaces graph and shows an algorithm to obtain the movement sequence needed for the disassembly of two objects, using a composition of transfer movement. It performs a second filter to obtain the exact disassembly direction from the group of directions obtained from the contact surfaces. The filter employs a mobile robotic heuristic to feedback the contact surface graph throughout the disassembly process. The heuristic generates an environment map to infer the region where the probability of collision with the other objects is lower. To achieve the disassembly the paper presents a method for modeling the elements implied in the disassembly process. This virtual model of the environment allows us to quickly process the elements and the simulation of the movements for disassembly. This model can be used to either schedule the disassembly process or to test, during the design stage, whether the products can be easily disassembled.

Citation Download Citation

Jorge Pomares Baeza, Fernando Torres Medina, and Santiago Puente Mendez "Disassembly movements for geometrical objects through heuristic methods", Proc. SPIE 4569, Environmentally Conscious Manufacturing II, (11 February 2002); https://doi.org/10.1117/12.455266

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