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arXiv · 2301.02643

Auto-Assembly: a framework for automated robotic assembly directly from CAD

Sergei Zobov·Fedor Chervinskii·Aleksandr Rybnikov·Danil Petrov·Komal Vendidandi
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Abstract

In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We show the flexibility of the approach by testing it on different input designs. Auto-Assembly consists of several parts: design analysis, assembly sequence generation, bill-of-process (BOP) generation, conversion of the BOP to control code, path planning, simulation, and execution of the control code to assemble parts in the physical environment.

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Sergei Zobov, Fedor Chervinskii, Aleksandr Rybnikov, Danil Petrov, Komal Vendidandi. 2023-01-06. Auto-Assembly: a framework for automated robotic assembly directly from CAD. https://arxiv.org/abs/2301.02643

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