Automatic Fixture Design for Robotic Assembly

按钮式方法设计中缺少的元素之一 对于机器人装配来说， 零件表达的配置。 过去的研究工作 专注于机械加工用夹具， 工件几何图形。 这项研究解决了一个问题：鉴于 零件或子组件几何形状及其物理特性， 自动确定固定零件所需的夹具 用于特定的组装操作。 为了进行分析， 原始形状、抓握点、固定元件，以及 将使用组装操作。 这些集合被认为是 (a)组装合力，（B）公差，（c）柔性，（d） 材料性能，以及（e）稳定性，不滑动， 通过算法建立几何配置， 固定装置。 这种潜在的夹具可以在实体上建模 建模师 夹具和零件之间的干涉检查 模型，可以验证夹具模型。 使用的工具将是 solid modeler运动学和动力学仿真软件 包装和模块化夹具套件，以经验验证 分析结果。 这项研究提出了一个分析 机器人自动装配夹具的算法研究 设计

One of the missing elements in a push-button approach design for robotic assembly is the automatic generation of fixturing configurations for part presentations. Past research efforts have focused on fixturing for machining with minimal usage of workpart geometry. This research addresses the question: given the part or subassembly geometry and its physical properties, automatically determine the fixture necessary to hold the part for a particular assembly operation. For analysis, limited sets of primitive shapes, grasp points, fixturing elements, and assembly operations will be used. These sets are considered with (a) resultant assembly force, (b) tolerance, (c) flexibility, (d) material properties, and (e) stability with no slipping to establish, through an algorithm, a geometric configuration for the fixture. This potential fixture can be modeled on a solid modeler. Interference checks between the fixture and part models, can validate the fixture model. The tools used will be a solid modeler, a kinematics and dynamics simulation software package and a modular fixturing kit to empirically verify the analytic results. This research formulates an analytical algorithmic approach for automatic robotic assembly fixture design.