FOR AUTOMATED ASSEMBLY, FIXTURE, AND GRASP PLANNING, IT IS NECESSARY TO DETERMINE THE SEQUENCE OF STEPS IN WHICH THE REQUIRED GOAL WILL BE ACHIEVED. THIS PROCESS SEQUENCE MUST SATISFY GEOMETRIC AND MANUFACTURING RESOURCE CONSTRAINTS. THE COMPONENTS OF THE SYSTEM MUST RETAIN THEIR CONFIGURATION WHEN SUBJECTED TO THE ASSEMBLY FORCES AND TORQUES. THIS PAPER DEALS WITH QUANTITATIVE AND QUALITATIVE ANALYSIS OF STABILITY. THE SUBASSEMBLY STABILITY IS DETERMINED QUANTITATIVELY BY SIMULATION OF ITS DYNAMIC BEHAVIOR, AND QUALITATIVELY BY THE USE OF VELOCITY, FORCE, STIFFNESS, DAMPING, INERTIA, AND NONLINEAR FORCES ELLIPSOIDS. A STABILITY INDEX HAS BEEN DERIVED TO COMPARE STABILITIES OF DIFFERENT SUBASSEMBLIES. THE STABILITY REASONER IS BEING INCOROPRATED IN RALPH, A PLANNER IN DEVELOPMENT AT THE AUTOMATION AND ROBOTICS LABORATORY.
| Number of Pages : | 31 |
| Published : | 06/01/1991 |
