Algorithms for Constructing Immobilizing Fixtures and Grasps of Three-Dimensional Objects

构建三维物体固定装置和抓取的算法

• 批准号: 9634393
• 负责人: Jean Ponce
• 金额: $ 15.94万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1996
• 资助国家: 美国
• 起止时间: 1996-09-01 至 2000-02-29
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9634393&HistoricalAwards=false
• 关键词: Algorithms; Constructing; Immobilizing; Fixtures; Grasps

The research addresses the problem of immobilizing a three- dimensional object through a few contacts with simple modular components, with applications in manufacturing fixture design and robotic grasping. The proposed approach is based on the kinematic notion of second-order immobility introduced by Rimon and Burdick. From a practical point of view, the planned research is motivated by its applications in small-batch manufacturing, rapid prototyping, and on-demand manufacturing . The scientific objectives are (1) to develop efficient algorithms for automatically enumerating all of the fixture/gripper configurations and the corresponding workpiece positions and orientations for which a truely three-dimensional workpiece will be completely immobilized; (2) to develop grasp and fixture planning strategies capable of handling positioning uncertainty during grasping and fixture loading operations; and (3) more generally, to develop general analytical tools for holding and manipulating complex three-dimensional shapes with devices having a mixture of discrete and continuous degrees of freedom. The process achieved in this project will be assessed by conducting experiments with actual fixtures and the prototype of a novel automatically reconfigurable gripper.

该研究解决了通过与简单模块化组件的几次接触来固定三维物体的问题，并应用于制造夹具设计和机器人抓取。 所提出的方法是基于 Rimon和Burdick提出的二阶不动性的运动学概念。 从实践的角度来看，计划研究 是 其动机是其在小批量制造、快速原型制造和按需制造中的应用。 科学目标是（1）开发有效的算法， 自动 列举了所有 夹具/夹具配置和相应的工件位置和方向，对于该位置和方向，真正的三维工件将被完全固定;（2）开发能够在抓取和夹具装载操作期间处理定位不确定性的抓取和夹具规划策略;以及（3）更一般地，开发通用分析工具，用于利用具有离散和连续自由度的混合的装置保持和操纵复杂的三维形状。 在这个项目中实现的过程将进行实际夹具和一种新型的自动可重构夹持器的原型实验进行评估。