Skip to content

Gearbox Disassembly using RRT Algorithm in 3D Space

Simulation

Setup

gd-1.jpg

Motion

gd-2.jpg gd-Animation.gif

Results

gd-rrtNodes.png gd-rrtPath.png

Developed at: Worcester Polytechnic Institute

Project date: April, 2023

GitHub URL: parth-20-07/Gearbox-Disassembly-using-RRT-Algorithm-in-3D-Space

Brief Introduction on Project

The objective of this task is to disassemble a gearbox with no collisions using RRT Algorithm. We are using the gearbox called SM-465.

Restriction based Experimentation:

  • Restricting the Planner to only 2 axes improves the speed to find the path.
  • Restricting the domain of the new node search reduces the path planning time.
  • Too small of a search domain satisfies the position requirement but fails the orientation requirement for motion.

Search Based Experimentation

  • Setting the node search radius too small makes the path smooth but takes a lot of time.
  • Setting the node search radius too big results in the shaft not being able to get out of the Gearbox due to collisions while motioning.