8 accepted papers
We present the first realization of an assembly sequence planning framework for large-scale and complex 3D real-world CAD scenarios. Other than in academic benchmark data sets, in our scenario each assembled part is allowed to contain flexible fastening elements and the number of assembled parts is…
The automatic generation of (dis)assembly sequences for complex technical products is a challenging field. Complex products like vehicles consist of numerous different components. Determining the sequence using a brute-force-approach by testing all components for disassembly one after another in a l…
Automatic disassembly planning for complex industrial products like vehicles checks the expandability of components already at early stages of design. For a fast computation of collision-free disassembly paths, sampling-based rigid body motion planning is used in the literature. However, in real-wor…
One major challenge in Assembly Sequence Planning (ASP) for complex real-world CAD-scenarios is to find an appropriate disassembly path for each assembled part. Complex real-world scenes are characterized by a large installation space. There each part has many different possible disassembly paths th…
In this paper, we consider disassembly scenarios for real-world 3D CAD-data, where each component is defined by a triangle mesh. For a fast construction of collision-free disassembly paths, common approaches use sampling-based rigid body motion planning which is well studied in the literature. One f…
One major challenge in Assembly Sequence Planning (ASP) for complex real-world CAD-scenarios is to find appropriate disassembly paths for all assembled parts. Such a path places demands on its length and clearance. In the past, it became apparent that planning the disassembly path based on the (appr…
In sampling-based 3D rigid body motion planning one of the major subroutines is collision detection. Especially for problems with narrow passages many samples have to be checked by a collision detection algorithm. In this application, the runtime of the motion planning algorithm is dominated by coll…
Nowadays sampling-based motion planners use the power of randomization to compute multidimensional motions at high performance. Nevertheless the performance is based on problem-dependent parameters like the weighting of translation versus rotation and the planning range of the algorithm. Former work…