A 3D modular gripper design tool
A 3D modular gripper design tool
复制标题
3D 模块化夹具设计工具
DOI：
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发表时间：
1997
期刊：
影响因子：
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通讯作者：
R. Brost
中科院分区：
文献类型：
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作者：
Russell G. Brown;R. Brost
模块化夹具套件是用于灵活、快速构建夹具的组件集。组合式虎钳是一种平行钳口虎钳，其每个钳口是具有精确定位孔的规则网格的组合夹具板。为了固定一个零件，人们在一些孔中放置销钉，以便当虎钳关闭时，零件可靠地定位并完全受到约束。模块化虎钳的概念可以很容易地适用于机器人的模块化平行钳口夹具的设计。通过将网格板连接到平行钳口夹持器的每个钳口，我们能够轻松地从一套标准硬件中为各种零件构建高质量的抓持。Wallack和Canny（1994）开发了一种算法，用于规划模块化虎钳的平面抓取配置。我们将这项工作扩展到生产3D夹具/夹具设计工具。我们描述了几个分析，我们已经添加到平面算法，包括一个三维把握力信息的基础上的质量度量，三维几何载荷分析，和夹具间的干扰分析。最后，我们描述了我们的代码的两个应用程序。其中一个是Sandia的内部应用程序，而另一个显示了我们的代码在设计敏捷装配线的一部分时的潜在用途。
Modular fixturing kits are sets of components used for flexible, rapid construction of fixtures. A modular vise is a parallel-jaw vise, each jaw of which is a modular fixture plate with a regular grid of precisely positioned holes. To fixture a part, one places pins in some of the holes so that when the vise is closed, the part is reliably located and completely constrained. The modular vise concept can be adapted easily to the design of modular parallel-jaw grippers for robots. By attaching a grid-plate to each jaw of a parallel-jaw gripper we gain the ability to easily construct high-quality grasps for a wide variety of parts from a standard set of hardware. Wallack and Canny (1994) developed an algorithm for planning planar grasp configurations for the modular vise. We expand this work to produce a 3D fixture/gripper design tool. We describe several analyses we have added to the planar algorithm, including a 3D grasp quality metric based on force information, 3D geometric loading analysis, and inter-gripper interference analysis. Finally, we describe two applications of our code. One of these is an internal application at Sandia, while the other shows a potential use of our code for designing part of an agile assembly line.