Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288469
C. Tietje, S. Ratchev
To deal with the high complexity of the products and processes in the microdomain a design for microassembly (DFμA) Methodology is introduced which aims to facilitate the efficient assembly of complex three-dimensional miniaturised devices. Currently neither the literature nor any of the common design for assembly (DFA) tools provide sufficient solutions for the microworld. The methodology's objective is to enable an increased transfer of products from the research laboratory into industrial practice.
{"title":"Design for Microassembly - A Methodology for Product Design and Process Selection","authors":"C. Tietje, S. Ratchev","doi":"10.1109/ISAM.2007.4288469","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288469","url":null,"abstract":"To deal with the high complexity of the products and processes in the microdomain a design for microassembly (DFμA) Methodology is introduced which aims to facilitate the efficient assembly of complex three-dimensional miniaturised devices. Currently neither the literature nor any of the common design for assembly (DFA) tools provide sufficient solutions for the microworld. The methodology's objective is to enable an increased transfer of products from the research laboratory into industrial practice.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128118788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288440
H. Wakamatsu, Tatsuya Yamasaki, E. Arai, S. Hirai
A modeling method of flexible belt objects is proposed. Deformation of a belt object such as film circuit boards or flexible circuit boards must be estimated for automatic manipulation and assembly. In this paper, we assume that deformation of an inextensible belt object can be described by the shape of its central axis in a longitudinal direction called "the spine line" and lines with zero curvature called "rib lines". This model is referred to as a "fishbone model" in this paper. First, we describe deformation of a rectangular belt object using differential geometry. Next, we propose the fishbone model considering characteristics of a developable surface, i.e., a surface without expansion or contraction. Then, we formulate potential energy of the object and constraints imposed on it. Moreover, this model is applied to a bent belt object. Finally, we explain a procedure to compute the deformed shape of straight and bent objects and compare their shape with measured shape to demonstrate the validity of our proposed method.
{"title":"Modeling of Flexible Belt Objects toward Their Manipulation","authors":"H. Wakamatsu, Tatsuya Yamasaki, E. Arai, S. Hirai","doi":"10.1109/ISAM.2007.4288440","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288440","url":null,"abstract":"A modeling method of flexible belt objects is proposed. Deformation of a belt object such as film circuit boards or flexible circuit boards must be estimated for automatic manipulation and assembly. In this paper, we assume that deformation of an inextensible belt object can be described by the shape of its central axis in a longitudinal direction called \"the spine line\" and lines with zero curvature called \"rib lines\". This model is referred to as a \"fishbone model\" in this paper. First, we describe deformation of a rectangular belt object using differential geometry. Next, we propose the fishbone model considering characteristics of a developable surface, i.e., a surface without expansion or contraction. Then, we formulate potential energy of the object and constraints imposed on it. Moreover, this model is applied to a bent belt object. Finally, we explain a procedure to compute the deformed shape of straight and bent objects and compare their shape with measured shape to demonstrate the validity of our proposed method.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"345 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124265837","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288486
D. Semere, J. Barata, M. Onori
The aim of this paper is to introduce the basic principles. and concepts of evolvable assembly systems, EAS, represents a novel way of designing and implementing assembly systems in industry, and was first presented in 2002. The essence of EAS resides in the ability of system components to not only adapt to the changing conditions of operation, but also to assist in the evolution of these components in time such that processes may become more robust, maintenance aspects are supported, and legacy systems integrated. EAS also enforces the idea that ubiquitous computing and distributed control are best suited for such endeavors. This article will present the latest developments and advances made to date.
{"title":"Evolvable Assembly Systems: Developments and Advances","authors":"D. Semere, J. Barata, M. Onori","doi":"10.1109/ISAM.2007.4288486","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288486","url":null,"abstract":"The aim of this paper is to introduce the basic principles. and concepts of evolvable assembly systems, EAS, represents a novel way of designing and implementing assembly systems in industry, and was first presented in 2002. The essence of EAS resides in the ability of system components to not only adapt to the changing conditions of operation, but also to assist in the evolution of these components in time such that processes may become more robust, maintenance aspects are supported, and legacy systems integrated. EAS also enforces the idea that ubiquitous computing and distributed control are best suited for such endeavors. This article will present the latest developments and advances made to date.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121622488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288478
A. Madureira, N. Gomes, J. Santos, C. Ramos
This paper describes a multi-agent scheduling system that assumes the existence of several machines agents (which are decision-making entities) distributed inside the manufacturing system that interact and cooperate with other agents in order to obtain optimal or near-optimal global performances. Agents have to manage their internal behaviors and their relationships with other agents via cooperative negotiation in accordance with business policies defined by the user manager. Some multi-agent systems (MAS) organizational aspects are considered. An original cooperation mechanism for a team-work based architecture is proposed to address dynamic scheduling using meta-heuristics.
{"title":"Cooperation Mechanism for Team-Work based Multi-Agent System in Dynamic Scheduling through Meta-Heuristics","authors":"A. Madureira, N. Gomes, J. Santos, C. Ramos","doi":"10.1109/ISAM.2007.4288478","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288478","url":null,"abstract":"This paper describes a multi-agent scheduling system that assumes the existence of several machines agents (which are decision-making entities) distributed inside the manufacturing system that interact and cooperate with other agents in order to obtain optimal or near-optimal global performances. Agents have to manage their internal behaviors and their relationships with other agents via cooperative negotiation in accordance with business policies defined by the user manager. Some multi-agent systems (MAS) organizational aspects are considered. An original cooperation mechanism for a team-work based architecture is proposed to address dynamic scheduling using meta-heuristics.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116616410","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288468
A. Almansa, C. Wogerer
Microhandling and -assembly represents a field with challenging requirements for a large number of scientific and technical competences, such as robotics, control, sensorics, materials, and many others. The Research and Training Network "Advanced Methods and Tools for Handling and Assembly in Microtechnology" (ASSEMIC) addresses this research field at a European scale. Topics as design and development of microgrippers, intelligent micromanipulation methods and microassembly technologies for industrial production are dealt with by the 14 institutions participating in this project. This paper summarizes some of the latest results achieved in this project.
{"title":"ASSEMIC: Handling and Assembly in the Micro dimension","authors":"A. Almansa, C. Wogerer","doi":"10.1109/ISAM.2007.4288468","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288468","url":null,"abstract":"Microhandling and -assembly represents a field with challenging requirements for a large number of scientific and technical competences, such as robotics, control, sensorics, materials, and many others. The Research and Training Network \"Advanced Methods and Tools for Handling and Assembly in Microtechnology\" (ASSEMIC) addresses this research field at a European scale. Topics as design and development of microgrippers, intelligent micromanipulation methods and microassembly technologies for industrial production are dealt with by the 14 institutions participating in this project. This paper summarizes some of the latest results achieved in this project.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115174434","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288475
A. Chau, S. Régnier, A. Delchambre, P. Lambert
As miniaturization of objects and systems is further carried on, adhesion appears to be one major problem during the assembly and/or fabrication of micro-components. This paper presents a model for the computation of capillary forces. For simple geometries, this model complies with literature results. In addition, it allows the computation of capillary force for non-axisymmetrical shapes. The complexity can arise from object shape (modelling for example an AFM tip) and/or from geometrical configuration. One very important result is the ability to compute the evolution of the capillary force depending on the tilt angle of the gripper with respect to the object. Using this results, it could be possible to manipulate small (a few tens of mum of characteristic dimension) objects with capillary condensation grippers. Currently the model takes into account the contact angles, the relative humidity, temperature and the geometrical description of the problem. It is shown that it is possible to reach forces up to a few hundreds of nanonewton in magnitude. This paper also presents a test bed developed in order to validate the models.
{"title":"Influence of geometrical parameters on capillary forces","authors":"A. Chau, S. Régnier, A. Delchambre, P. Lambert","doi":"10.1109/ISAM.2007.4288475","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288475","url":null,"abstract":"As miniaturization of objects and systems is further carried on, adhesion appears to be one major problem during the assembly and/or fabrication of micro-components. This paper presents a model for the computation of capillary forces. For simple geometries, this model complies with literature results. In addition, it allows the computation of capillary force for non-axisymmetrical shapes. The complexity can arise from object shape (modelling for example an AFM tip) and/or from geometrical configuration. One very important result is the ability to compute the evolution of the capillary force depending on the tilt angle of the gripper with respect to the object. Using this results, it could be possible to manipulate small (a few tens of mum of characteristic dimension) objects with capillary condensation grippers. Currently the model takes into account the contact angles, the relative humidity, temperature and the geometrical description of the problem. It is shown that it is possible to reach forces up to a few hundreds of nanonewton in magnitude. This paper also presents a test bed developed in order to validate the models.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122812916","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288442
Byungwoo Lee, Mohammed M. Shalaby, Ronald J. Collins, Victor Crisan, Stephen A. Walls, Dean M. Robinson, Kazuhiro Saitou
Variation analysis methods are, currently, more widely used during new product development to greatly reduce downstream rework and/or design changes. This is significantly important when considering large, built up sheet or thin plate "flexible" assemblies as those currently used in automotive or aerospace industries. Whereas methods to take flexibility into account can be found in literature, there are few addressing detailed process for three-dimensional assembly of industrial complexity. This paper presents a streamlined procedure for variation analysis of a complex assembly that integrates Datum Flow Chain analysis, a commercial three-dimensional variation analysis and FEA. The procedure is applied to a realistic industry case, a commercial airplane's wing-box assembly to determine the effect of part variation and flexibility on the assembly's variation. The case study shows that a structural enclosure such as the wing-box assembly is robust against pull-up forces applied during assembly operations.
{"title":"Variation Analysis of Three Dimensional non-rigid Assemblies","authors":"Byungwoo Lee, Mohammed M. Shalaby, Ronald J. Collins, Victor Crisan, Stephen A. Walls, Dean M. Robinson, Kazuhiro Saitou","doi":"10.1109/ISAM.2007.4288442","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288442","url":null,"abstract":"Variation analysis methods are, currently, more widely used during new product development to greatly reduce downstream rework and/or design changes. This is significantly important when considering large, built up sheet or thin plate \"flexible\" assemblies as those currently used in automotive or aerospace industries. Whereas methods to take flexibility into account can be found in literature, there are few addressing detailed process for three-dimensional assembly of industrial complexity. This paper presents a streamlined procedure for variation analysis of a complex assembly that integrates Datum Flow Chain analysis, a commercial three-dimensional variation analysis and FEA. The procedure is applied to a realistic industry case, a commercial airplane's wing-box assembly to determine the effect of part variation and flexibility on the assembly's variation. The case study shows that a structural enclosure such as the wing-box assembly is robust against pull-up forces applied during assembly operations.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"12 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127527224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288465
H. Medellín, J. Corney, T. Lim, J. Ritchie, J. Davies
Advances in robotics and assembly automation have suggested that it might be feasible to fabricate prototypes from assemblies of regular shapes for low cost manufacturing and visualization. This paper presents an automated assembly system to investigate the feasibility of this idea.
{"title":"Assembly Based Fabrication","authors":"H. Medellín, J. Corney, T. Lim, J. Ritchie, J. Davies","doi":"10.1109/ISAM.2007.4288465","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288465","url":null,"abstract":"Advances in robotics and assembly automation have suggested that it might be feasible to fabricate prototypes from assemblies of regular shapes for low cost manufacturing and visualization. This paper presents an automated assembly system to investigate the feasibility of this idea.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125446973","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288485
C. Perrard, Philippe Lutz, Paulo Salgueiro
This paper discusses a new approach dedicated to assembly plan generation, called "bottom-up algorithm". It is compared to the traditional "top-down approach", usually used to perform this stage of the design process of the assembly systems for "macro-products". We explore why this new algorithm is better adapted for designing a microassembly system. The case of watch assembly plans generation is described through the both approaches and the obtained results are compared.
{"title":"New bottom-up algorithm for assembly plan generation: opportunities for micro-factory design","authors":"C. Perrard, Philippe Lutz, Paulo Salgueiro","doi":"10.1109/ISAM.2007.4288485","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288485","url":null,"abstract":"This paper discusses a new approach dedicated to assembly plan generation, called \"bottom-up algorithm\". It is compared to the traditional \"top-down approach\", usually used to perform this stage of the design process of the assembly systems for \"macro-products\". We explore why this new algorithm is better adapted for designing a microassembly system. The case of watch assembly plans generation is described through the both approaches and the obtained results are compared.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133941947","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-22DOI: 10.1109/ISAM.2007.4288470
Wen-Hua Pan, Jing-Sin Liu, Wen-Yang Ku
For a pair of uniformly scaled convex polyhedral objects, exact collision detection can be performed rather robustly via reference to a descending piecewise linear curve (decision curve) characterizing the set of all scaling pairs that the objects contact each other externally. As the objects undergo a small relative spatial motion, this paper presents via a worked example a fast and simple incremental method to check their collision status without recomputations from scratch. The new decision curve after an intended relative motion could be constructed efficiently, as compare to the without initialization approach which each computation restarts from scratch. This approach has potential application to the assembly problems for designing relative motion that could make a pair of scalable convex polyhedral objects mate precisely, when their locations do not match initially.
{"title":"Fast Collision Detection Method for the Scaled Convex Polyhedral Objects with Relative Motion","authors":"Wen-Hua Pan, Jing-Sin Liu, Wen-Yang Ku","doi":"10.1109/ISAM.2007.4288470","DOIUrl":"https://doi.org/10.1109/ISAM.2007.4288470","url":null,"abstract":"For a pair of uniformly scaled convex polyhedral objects, exact collision detection can be performed rather robustly via reference to a descending piecewise linear curve (decision curve) characterizing the set of all scaling pairs that the objects contact each other externally. As the objects undergo a small relative spatial motion, this paper presents via a worked example a fast and simple incremental method to check their collision status without recomputations from scratch. The new decision curve after an intended relative motion could be constructed efficiently, as compare to the without initialization approach which each computation restarts from scratch. This approach has potential application to the assembly problems for designing relative motion that could make a pair of scalable convex polyhedral objects mate precisely, when their locations do not match initially.","PeriodicalId":166385,"journal":{"name":"2007 IEEE International Symposium on Assembly and Manufacturing","volume":"121 42","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113945742","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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