Fastener-centric acquisition and AND/OR graph representation of state-dependent disassembly knowledge from CAD-derived virtual assemblies
Fastener-centric acquisition and AND/OR graph representation of state-dependent disassembly knowledge from CAD-derived virtual assemblies
This paper proposes a fastener-centric virtual-disassembly framework that acquires state-dependent disassembly operations from CAD-derived virtual assemblies. By grouping fasteners into operation-level sets and evaluating removability through visibility, tool-access checks, and torque-driven trials, the method organizes knowledge into a Transformed AND/OR Graph. Exhaustive verification on a toy assembly found no branching violations, while evaluation with a 54-component OpenManipulator Chain gripper demonstrated effective pruning of candidate evaluations (51.4%) and enabled previously inaccessible operations. The results support acquiring product-specific disassembly knowledge before manufacture for design-for-disassembly evaluation.
The study validates a CAD-derived virtual-disassembly framework using a 54-component OpenManipulator Chain gripper, demonstrating that state-dependent visibility and tool-access checks can prune candidate fastener evaluations by 51.4% while maintaining mechanical plausibility in a controlled toy assembly.
Source: arXiv Robotics — research abstracts · Read original article ↗
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nd physics-based validation. The acquired operations, states, dependencies, validated paths, and simulation-derived attributes are organized into a Transformed AND/OR Graph for subsequent planning and design evaluation. Exhaustive verification with a controlled toy assembly found no branching violations for introduced tool-accessibility and precedence conditions. Evaluation with a 54-component OpenManipulator Chain g
Open source S4
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nd physics-based validation. The acquired operations, states, dependencies, validated paths, and simulation-derived attributes are organized into a Transformed AND/OR Graph for subsequent planning and design evaluation. Exhaustive verification with a controlled toy assembly found no branching violations for introduced tool-accessibility and precedence conditions. Evaluation with a 54-component OpenManipulator Chain g
Open source S4
ripper demonstrated state-dependent fastener-removal and part- or subassembly-separation operations. Visibility and tool-accessibility evaluations pruned 51.4% of fastener-set candidate evaluations, while removal of obstructing components enabled previously inaccessible fastener operations. Operation-level grouping and screening thereby limited detailed physical validation to mechanically plausible candidates. The re
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org