Abstract
In order to complete the intelligent assembly operation, the cooperation between assembly robotic arm and assembly sequence planning (ASP) is necessary. This is a matter of great importance, as traditional product assembly incurs considerable manpower and time, generally accounting for 20–70% of the total manufacturing workload. In this paper, we develop a dual-projected-based automated interference matrix (DPIM) algorithm that analyzes the relations between the components of a given product. In order to reduce the number of times that collide detection is performed in comparison with the method only do collision detection, the DPIM algorithm relies on static interference detection and dual-projected detection to generate a contact matrix, a direction contact matrix, and an interference matrix. By reducing the number of times collide detection is performed, DPIM can reduce the workload of assembly, thereby reducing the total manufacturing load overall and the manufacturing time likewise.
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