Sergio.Sedas@FAS.RI.CMU.EDU (11/27/86)
Master's Defense
Name: Sergio W. Sedas
Title:Disassembly Expert
Dept: ECE
Date: Dec. 3, 1986
Time: 2:00 DHA219 Engineering Design
Research Center (Demo)
2:30 DH1102 Chemical Engineering
Conference Room (Presentation)
An important part in a redesign for assembly expert is a module which will
autonomously disassemble mechanical objects. Although disassembly is a task
which is easily performed by human beings, it has been a very difficult task
for computers to perform. This paper describes an algorithm which mimics
the human experimental approach to disassemble mechanical assemblies. A
highlight in this approach is the ability to determine when a single part or
a group of parts (subassembly) must be removed.
We have divided the disassembly operation into two basic steps. The first
step selects a part to remove and identifies which parts whose connections
can not be severed must be removed with it. The second step, incorporated
in a path planner, attempts to remove the subassembly. During removal,
obstacles may be added or excluded from the subassembly.
A second contribution is the use of multiple representations for
problem solving. A number of geometric, connectivity and facilities models
are used simultaneously in both steps of the disassembly.
This algorithm has successfully disassembled a flashlight and a piston. By
modifying the objective we've managed to remove an object from a closed
drawer and a chosen part from a within a flashlight assembly.