Automatic Fixture Design for Robotic Assembly

在机器人装配的按钮方法设计中缺少的一个元素是零件展示的夹具配置的自动生成。过去的研究工作主要集中在对工件几何形状使用最小的加工夹具上。本研究解决了以下问题：给定零件或子组件的几何形状及其物理特性，自动确定为特定装配操作保持零件所需的夹具。为了进行分析，将使用原始形状、抓点、夹具元件和装配操作的有限集合。这些集合考虑了(a)合成装配力，(b)公差，(c)灵活性，(d)材料特性，以及(e)无滑移的稳定性，通过算法建立夹具的几何配置。这个潜在的夹具可以在实体建模器上建模。夹具与零件模型之间的干涉检查，可以验证夹具模型。使用的工具将是一个实体建模器，一个运动学和动力学仿真软件包和一个模块化夹具套件，以经验验证分析结果。本研究提出了一种机器人自动装配夹具设计的解析算法。

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.