β Scribed by James H. Oliver; H.-T. Huang
No coin nor oath required. For personal study only.
A technique is described for finding a collision-free path for a free component relative to a reference stationary component or subassembly, to facilitate automated assembly design. Given a part mating sequence and total assembly transformation matrices for each component, a method is presented to decompose the transformations into a sequence of motions such that the physical assembly process can be realized. The assembly paths are generated in reverse order beginning with the final free component in assembled configuration. A visibility map is employed to find an initial separation direction. The magnitude of the translation necessary to separate the parts is determined by projecting the vertices of both components onto the separation direction vector. Subsequent direction vectors are generated by comparing the current position of the free component to its initial position. At each step an interference check is performed to determine whether the free component can reach its initial position without interfering with the stationary component. If this is the case, the disassembly steps are written in reverse order as the assembly plan. The technique is sufficiently general to be implemented within geometric modelling systems with typical contemporary functionality and geometric utilities. An implementation of the technique in a prototype 2D system is described to demonstrate its capabilities.
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