Automatic design of 3-d fixtures and assembly pallets

Brost, Randy C.; Peters, R.R.

doi:10.1109/robot.1996.503824

Cited by 34 publications

(17 citation statements)

References 6 publications

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“…The locators are static and mounted against the object xed in the xture system. The layout of the locator is of varying shape and size, some intended for a specic object and others more general [2].…”

Section: State Of the Artmentioning

confidence: 99%

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Automated Fixture Design using an Imprint-based Design Approach and Optimisation in Simulation

Schwartz

Ellekilde

Krüger

2019

IJRC

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Object aligning and holding fixtures for robotic assembly tasks are important in industry in order to successfully complete an assembly. However, the designing of a fixture is usually done manually which can be a long and tedious process including many iterations, even for experienced engineers. This paper presents a method to design fixtures automatically for use in robotic assemblies and pick-and-place tasks. To achieve this, a new automated method to design the cut-out for a fixture is introduced. The method uses a parameterized version of the object's imprint to design the cut-out. The fixtures generated using this method are optimized in simulations to determine their final parameters for a specific application. Dynamic simulations are used to evaluate each iteration of the cut-out. Lastly, the method is applied to a use-case from the industry to design a fixture for use in a robotic assembly task.

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Section: State Of the Artmentioning

confidence: 99%

“…The early work in this eld has focused on the automation of the design [2] and planning process and the analysis of the xture [10]. [18] developed a planning algorithm that is able to plan how a given modular xture should be built, step by step.…”

Section: State Of the Artmentioning

confidence: 99%

Automated Fixture Design using an Imprint-based Design Approach and Optimisation in Simulation

Schwartz

Ellekilde

Krüger

2019

IJRC

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“…The level surface V (q) = V (q 3 ) corresponding to τ ext = 0 is depicted in Figure 5 This event corresponds to a decrease in the number of possible equilibria from four to two. 4…”

Section: Lemma 34 (Equilibrium Classification)mentioning

confidence: 99%

“…Linear force-displacement laws can also be directly implemented with spring-loaded devices similar to the ones deployed in our experiments (see Figure 9). The results of this paper are therefore useful not only for grasping applications, but also for light-duty fixturing tasks such as part assembly and material delivery [4,27,34].…”

Section: Introductionmentioning

confidence: 99%

On the Passive Force Closure Set of Planar Grasps and Fixtures

Shapiro

Rimon

Shoval

2010

The International Journal of Robotics Research

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This paper considers grasps and fixtures whose contacts react according to force-displacement laws consistent with friction constrains at the contacts. The passive force closure set of such grasps and fixtures is the set of external wrenches (forces and torques) that can act on the grasped object and be stably balanced by the contacts. An external wrench belongs to this set if it induces a feasible equilibrium whose basin of attraction contains the initial unperturbed grasp configuration. The paper focuses on planar grasps and fixtures having sharp-tipped fingers or fixels that satisfy linear force displacement laws. Using Morse Theory, the paper characterizes the number and stability type of k-contact equilibria induced by a given external wrench. Based on this analysis, the paper provides closed-form expressions for the passive force closure set of k-contact grasps and fixtures. Computation of the allowed external wrenches is illustrated with examples. Finally, the paper describes experiments verifying the passive force closure set on a spring-loaded grasping system.

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“…From a fundamental perspective, there have been a been previously reported in conference form in [12]. number of proofs addressing necessary and sufficient conditions for constraining a rigid body with Udaterd Contacts.…”

Section: Previous Workmentioning

confidence: 99%

Automatic design of 3-d fixtures and assembly pallets

Brost

Peters

1997

Self Cite

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This paper presents an implemented algorithm that automatically designs fiztures and assembly pallets to hold three-dimensional parts. The designed fixtures rigidly constrain and locate the part, obey task constraints, are robust to part shape variations, are easy t o load, and are economical to produce. The algorithm is guaranteed t o find the global optimum solution that satisfies these and other pragmatic conditions. we present the results of the algorithm applied to several practical manufacturing problems. FOT these complei problems the algorithm typically returns initial high-quality fizture designs in less than two minutes, and identifies the global optimum design in just ,over an hour.

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Automatic design of 3-d fixtures and assembly pallets

Cited by 34 publications

References 6 publications

Automated Fixture Design using an Imprint-based Design Approach and Optimisation in Simulation

Automated Fixture Design using an Imprint-based Design Approach and Optimisation in Simulation

On the Passive Force Closure Set of Planar Grasps and Fixtures

Automatic design of 3-d fixtures and assembly pallets

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