Abstract
This paper presents a method to determine whether an assembly of planar parts will stay assembled as it is pushed over a support surface. For a given pushing motion, an assembly is classified into one of three categories: (P = possible): any force necessary to preserve the assembly can be generated by the pushing contacts; (I = impossible): pushing forces cannot preserve the assembly; and (U = undecided): pushing forces may or may not be able to preserve the assembly. This classification is made based on the solution of linear constraint satisfaction problems. If the part-part and part-pusher contacts are frictionless, motions labeled P are guaranteed to preserve the assembly. The results are based on bounds on the possible support friction acting on individual parts in the face of indeterminacy in the distribution of support forces. Experimental results supporting the analysis are given.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 740-750 |
| Number of pages | 11 |
| Journal | IEEE Transactions on Robotics |
| Volume | 22 |
| Issue number | 4 |
| DOIs | |
| State | Published - Aug 2006 |
Funding
Manuscript received July 22, 2005. This paper was recommended for publication by Associate Editor J. Wen and Editor F. Park upon evaluation of the reviewers’ comments. This work was supported by the National Science Foundation under Grant IIS-0308224. The work of J. D. Bernheisel was supported by the National Science Foundation through an IGERT Fellowship. This paper was presented in part at the 2005 International Conference on Robotics and Automation.
Keywords
- Assemblies
- Friction
- Linear constraint satisfaction
- Stable pushing
- Wrench space
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering