Orienting polyhedral parts by pushing

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A common task in automated manufacturing processes is to orient parts prior to assembly. We consider sensorless orientation of an asymmetric polyhedral part by a sequence of push actions, and show that is it possible to move any such part from an unknown initial orientation into a known final orientation if these actions are performed by a jaw consisting of two orthogonal planes. We also show how to compute an orienting sequence of push actions. We propose a three-dimensional generalization of conveyor belts with fences consisting of a sequence of tilted plates with curved tips; each of the plates contains a sequence of fences. We show that it is possible to compute a set-up of plates and fences for any given asymmetric polyhedral part such that the part gets oriented on its descent along plates and fences. ©2002 Elsevier Science B.V. All rights reserved.




Berretty, R. P., Overmars, M. H., & Van Der Stappen, A. F. (2002). Orienting polyhedral parts by pushing. Computational Geometry: Theory and Applications, 21(1–2), 21–38. https://doi.org/10.1016/S0925-7721(01)00043-8

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