A motion planning based on selective disassembly sequence planning method

被引：0
|
作者：
Zhao, Boxuan [1 ]
Liu, Jianhua [1 ]
Ning, Ruxin [1 ]
Liu, Jiashun [1 ]
机构：
[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2014年 / 50卷 / 07期
关键词：
Selective disassembly sequence planning is one of the most important stages in product repairing and recycling. Due to the lack of generalization of existing methods; a motion planning based selective disassembly sequence planning method is proposed. Aiming at the feature of huge amount and irregular shapes of complex product parts; a motion planning method based on dynamic self-adapted multiple trees based rapidly-exploring random tree (RRT) algorithm is introduced to plan the disassembly path of the parts initially. Based on that; a hierarchical structure of the assembly is generated which leads to the generation of the disassembly constraint relationship graph of all the assembly parts. By analysis of the generated graph; the disassembly sequence of selected part can be obtained. Results from test on a part from a complex chassis assembly validate this approach. © 2014 Journal of Mechanical Engineering;
D O I：
10.3901/JME.2014.07.136
中图分类号：
学科分类号：
摘要：
引用
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页码：136 / 145
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