| Abstract Scope |
Robotic-enabled assembly processes generally require components to be held in precise, predetermined grasps. Traditionally, this is achieved using custom-made assembly jigs and multiple robotic arms to reorient parts. In the context of additive-assembly cells, however, where the assembled parts are 3D printed in real-time, a unique advantage exists: control over the initial pose of the manufactured parts. In this paper, we leverage this idea and present a novel end-to-end computational pipeline for an additive-assembly cell, starting from a given assembly task, selecting the base part (i.e., passive jig) printing orientation, and providing the final assembly sequence. We find the best print orientation for the base part by considering possible supportless print orientations and the grasp required for downstream assembly. As such, this work demonstrates how a simple additive-assembly cell can use a single robotic manipulator to execute complex assembly sequences, thus reducing the number of steps and resources needed. |