Aspects of reconfigurable and flexible fixtures

Jonsson, Marie; Ossbahr, Gilbert

doi:10.1007/s11740-010-0256-z

Cited by 41 publications

(17 citation statements)

References 13 publications

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“…The fixturing system has an unprecedented degree of autonomy and the capacity to handle a wide variety of parts, including large and flexible thin sheets. Other existing systems still require human intervention in order to perform reconfiguration, and only very few are able to support flexible parts [37][38][39][40][41]. The new system has significant advantages over state-of-the-art RFAs or pintype systems; it has the potential to be a more agile, smarter, and cheaper industrial solution.…”

Section: Discussionmentioning

confidence: 99%

Task planning for cooperating self-reconfigurable mobile fixtures

Kasprzak

Zlatanov

Szynkiewicz

et al. 2013

Int J Adv Manuf Technol

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The work solves the problem of task and motion planning of a self-reconfigurable fixture system. A feasible solution is a key requirement for the viability of such systems, which have raised hopes of overcoming the deficiencies that more traditional fixtures are recognized to have in the dynamic conditions of modern manufacturing, with its increasing emphasis on flexibility, adaptability, and automation. The paper proposes an application-independent approach for the generation of a time-relevant action plan for the locomotion, reconfiguration, and positioning of two or more mobile robotic fixtures. The fixture agents need to provide local support for a large workpiece during machining. The path-planning problem is converted into a constraint satisfaction problem (CSP). The proposed approach is called Triple-CSP, as it applies an incremental state search to solve three hierarchical path-planning tasks for the three components of each mobile fixture agent: a supporting head, a mobile base, and a parallel manipulator. A final time-related trajectory (time scaling of actions) for the agents' entire task execution is obtained. Thus, the planner takes into account all the relevant physical, geometrical, and time-related constraints.

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Section: Discussionmentioning

confidence: 99%

Task planning for cooperating self-reconfigurable mobile fixtures

Kasprzak

Zlatanov

Szynkiewicz

et al. 2013

Int J Adv Manuf Technol

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“…Section II-C), the use of which in a robot-guided reconfigurable assembly system was first proposed in the work of Gödl et al [10]. A similar reconfigurable fixture concept was later described in the work of Jonnsson & Ossbahr [11] and Salminen et al [12] in the context of the production of bogies in the railway industry. In this paper, we describe a refined version of this concept, involving smaller units, brought to bear on the particular use-case of the production of headlamps for the automotive light industry (c.f .…”

Section: B Related Workmentioning

confidence: 99%

Rapid hardware and software reconfiguration in a robotic workcell

Gašpar

Ridge

Bevec

et al. 2017

2017 18th International Conference on Advanced Robotics (ICAR)

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In an increasingly competitive manufacturing industry it is becoming ever more important to rapidly react to changes in market demands. In order to satisfy these requirements, it is crucial that automated manufacturing processes are flexible and can be adapted to new production requirements quickly. In this paper we present a novel automatically reconfigurable robot workcell that addresses the issues of flexible manufacturing. The proposed workcell is reconfigurable in terms of hardware and software. The hardware elements of the workcell, both those selected off-the-shelf and those developed specifically for the system, allow for fast cell setup and reconfiguration, while the software aims to provide a modular, robotindependent, ROS-based programming environment. While the proposed workcell is being developed in such a way as to address the needs of production-oriented SMEs where batch sizes are relatively small, it will also be of interest to enterprises with larger production lines since it additionally targets high performance in terms of speed, interoperability of robotic elements, and ease of use.

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“…Jonsson and Ossbahr [36] reviewed different approaches to reconfigure a flexible fixture, ranging from manual to special built machinery, and presented different methods used to position and reconfigure flexible fixtures. The article also reported that hand-driven screws or separate screws can be used for manual reconfiguration of the flexapod, while measurements can be done either by using an external system or by scales on the legs of the flexapod and the changeover time is typically a quarter of an hour per device.…”

Section: Literature Reviewmentioning

confidence: 99%

Design, simulation and experimental investigation of a novel reconfigurable assembly fixture for press brakes

Olabanji

Mpofu

Battaïa

2015

Int J Adv Manuf Technol

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International audienceA reconfigurable assembly fixture is a major and important component of a reconfigurable assembly system. It is required for the assembly of a variety of press brake models in order to reduce the assembly time and overall production time. The stages and requirements for the design of an assembly fixture and understanding of the assembly process for press brake models were used to design a reconfigurable assembly fixture. A detailed design analysis of parts of the fixture and the hydraulic system is considered and presented in this article. The stress and displacement analysis of the parts is executed using Solidworks express simulation. The parameters of the hydraulic components were determined from force requirements, and the hydraulic system was modelled physically using Matlab Simscape hydraulics. The response of the hydraulic system was obtained for each actuator in the system in order to depict the output of the actuators from the spool displacement of the valves. Stress analysis conducted on parts of the fixture showed that it can withstand maximum stresses that are lesser than the yield strength of the material used for the part. It was also established that synchronization of hydraulic actuators can best be achieved by the use of a sine input to the electrohydraulic valve. An experimental investigation was done using FESTO hydraulic test bench in order to observe the synchronized extension and retraction of the hydraulic actuators. The simulation of the hydraulic system, electric system and the programmable logic controller was prepared using automation studio. The design is envisaged to provide the industries with relevant information on accurate location and gripping of press brake frames rather than turning and repositioning of the frame in order to fit other parts during assembly. The article provides relevant information on the design analysis of a reconfigurable assembly fixture for press brakes which is novel because articles on reconfigurable assembly fixtures have not considered its application to press brake assembly

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Aspects of reconfigurable and flexible fixtures

Cited by 41 publications

References 13 publications

Task planning for cooperating self-reconfigurable mobile fixtures

Task planning for cooperating self-reconfigurable mobile fixtures

Rapid hardware and software reconfiguration in a robotic workcell

Design, simulation and experimental investigation of a novel reconfigurable assembly fixture for press brakes

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