Assembly path planning by distance field based shrinking
Paper in proceedings, 2012

This paper presents a method to support dynamic packing in cases when no collision-free path can be found. The method, which is primarily based on path planning and shrinking of geometries, suggests a minimal geometry design change that results in a collision-free assembly path. A new method to shrink geometry based on adaptively sampled distance fields is suggested. Compared to previous work, the new method is less sensitive to input mesh quality. The method works directly on the triangle mesh and requires neither tetrahedralization nor calculation of a medial axis. The algorithm paired with a state of the art path planner has been applied to several industrial cases demonstrating that the proposed method can be used effectively for assembly verification during geometry design.

distance fields.


Dynamic packing

path planning


Staffan C Björkenstam

Johan Segeborn

Proceedings of the 4th CIRP Conference on Assembly Technologies and Systems: Technologies and Systems for Assembly Quality, Productivity and Customization, Editor: Professor S. Jack Hu, May 20- 22, 2012, Ann Arbor, Michigan, USA

Vol. 4 179-182
978-0-615-64022-8 (ISBN)

Subject Categories

Production Engineering, Human Work Science and Ergonomics

Computational Mathematics

Driving Forces

Sustainable development

Innovation and entrepreneurship

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