Archimedes Examples

Pattern Wheel

The pattern wheel is a 13-part subassembly of a discriminator (see next assembly, although a different design). The Archimedes planner reads in the facetted models, finds all contacts, and determines a geometrically valid part-level assembly sequence [79K] in a few seconds. A plan that minimizes the number of subassembly reorientations and robot tool changes is found in a total of a minute. The resulting plan can then be simulated (excerpts: part placement [87K], subassembly reorientation [153K], and laser welding [153K]). Translated to V+, the plan executes [469K] reliably in the Archimedes workcell.

A' Discriminator

A discriminator is a mechanical safety device designed to prevent accidental operation of a system. The discriminator has 42 parts, and consists of approximately 4 Mbytes of CAD data. It is modeled in Pro/ENGINEER, and translated to the ACIS solid modeling system for internal processing. Reading in the models, finding all the contacts between parts in the assembly, and determining a single geometrically valid part-level assembly sequence for the discriminator currently takes the Archimedes planner about 30 seconds. The assembly sequence can then be animated [534K]. When the tool module is used to model the tool constraints for the discriminator, the resulting tool-level plans [798K] are more detailed and more accurate than the part-level plans above.

Rockwell Assembly

The Rockwell assembly is a circuit board in a case, a relatively simple assembly mechanically, that is currently in low-volume production at Rockwell. However, when assembly tools are considered, a number of tight accessibility questions arise, requiring difficult choices in assembly ordering. The assembly has 78 parts including all fasteners and hardware, modeled by about 8 Mb of CAD data. It was chosen as a vehicle to demonstrate Archimedes by the TEAM Virtual Manufacturing Electromechanical Assembly group, in which Sandia participates. Allied Signal modeled the assembly, then Archimedes planned for its assembly, resulting in the following assembly sequence [1.1M].

Accelerometer

This accelerometer is part of another safety device designed at Sandia. The assembly has 79 parts, modeled by about 16 Mb of CAD data. The customers were mainly interested in simply and quickly visualizing possible assembly sequences, as well as easily generating instructional video to train human assemblers. Archimedes automatically found an assembly sequence for the accelerometer that satisfies all user requirements in 4 minutes, resulting in this animation [3.5Mb].
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Last modified: 11/12/02

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