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The analysis of potential mating trajectories and grasp sites

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Abstract

An efficient analysis of potential mating trajectories employs a two-dimensional approximation of the part geometry to obtain a reasonable approximation of the volume still remaining for the, as yet, unspecified gripper. This analysis is useful in determining the suitability of potential mating sequences when the actual robot and gripper to be used in the final assembly operations are unspecified. The complexity of the algorithm is analysed. Several examples of the application of the algorithm are provided to illustrate the algorithm's ability to choose between various gripper types and different mating trajectories.

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Authors and Affiliations

  1. Electrical Engineering and Computer Science Department, Milwaukee School of Engineering, 1025 North Milwaukee Street, PO Box 644, 53201-0644, Milwaukee, Wisconsin, USA

    Henry L. Welch

  2. Center for Intelligent Robotic Systems for Space Exploration, Electrical, Computer, and Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, USA

    Robert B. Kelley

Authors
  1. Henry L. Welch
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  2. Robert B. Kelley
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Welch, H.L., Kelley, R.B. The analysis of potential mating trajectories and grasp sites. Int J Adv Manuf Technol 8, 320–328 (1993). https://doi.org/10.1007/BF01783616

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