Auto-Assembly: a framework for automated robotic assembly directly from CAD

Auto-Assembly: a framework for automated robotic assembly directly from CAD. Abstract--In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We show the flexibility of the approach by testing it on different input designs. Auto-Assembly consists of several parts: design analysis, assembly sequence generation, bill-of-process (BOP) generation, conversion of the BOP to control code, path planning, simulation, and execution of the control code to assemble parts in the physical environment. Assembly planning is one of the most laborious tasks Left: UR5e with a screwdriver Likratec EH2 R1030-when releasing a new product for manufacturing. Thus, many A and Right: UR5e with gripper Robotiq 2F-85 with custom algorithms and methods around computer-aided design (CAD) designed gripper clamps.