Smart fixture for automation

加工和装配过程需要工件夹持装置，通常称为夹具和定位器。计算机化的机床为制造各种各样的零件提供了极大的灵活性。对于复杂的零件，夹具和定位器的设计是非常耗时的，甚至对专家来说也是如此。设置时间是总处理时间的重要组成部分。安装时间的大幅减少无疑将增加吞吐量。在拟议的研究工作中，将开发一种多指机器人手。它的设计将类似于钢琴演奏者的手指运动。它将能够有选择地抓取或释放选定的点，并重新定位一个或多个手指，以便在保持零件稳定位置的同时保持对零件的牢固抓取。整个作业将由计算机控制。将开发和集成适当的模型，这些模型将考虑刀具施加的动态力、从CAD几何文件中提取夹持位置、选择初始夹紧位置和确定重定位点以及驱动执行器的控制算法。该夹具将同时适用于机器人和计算机数控机床应用。此外，可重构夹具还将允许申请人增强在申请人指导下建造的两种生物机器人的功能。它们的运动模仿蚯蚓和水蚤的运动，目前该机器人由一个低级微控制器控制。夹具方法将进行适当的修改，以发展更有效和更稳定的表面抓取。机器人目前有能力爬上光滑的垂直杆和倾斜的表面。拟议的工作将对现代工业中使用的自动化数控工具的操作有很大帮助。2004年在芝加哥举行的IMTS会议上，申请者有机会与机床制造商的代表交谈，表现出了相当大的热情。机器人的许多独特应用已经被确定，范围从太空探索、环境监测以及搜救行动。

Machining and assembly process require work holding devices, popularly known as clamps and locators. Computerized machine tools provide a tremondous flexibility in manufacturing a wide variety of parts. The design of fixtures and locators is very time consuming for complex parts, even for experts. The setup time is a significant component of the total processing time. Substantial reduction in the setup time will no doubt increase throughput. A multi-fingered robotic hand will be developed in the proposed research work. Its design will resemble the motion of fingers of a piano player. It will have the ability to selectively grip or release from selected points as well reposition one or more of its fingers in order maintain a firm grip of the part while maintaining a stable position of the part. The entire operation will be computer controlled. Appropriate models that will take into account dynamic forces exerted by the tool, extraction of gripping position from the CAD geometry file, selection of initial clamping position and determination of repositioning points, control algorithms for the drive actuators will be developed and integrated. The fixture will be suitable for both robotic and computer numerical control machine tool application.  The reconfigurable fixture will also allow the applicant to enhance the functions of two types of biological robots built under the mentorship of the applicant. Their motions mimic the motion of an earthworm and a leech and the robot is presently controlled by a low level microcontroller. The fixture methodology will be suitably modified for developing a more effcient and stable grasping of surfaces. The robots presently have the ability to climb smooth vertical poles and inclined surfaces. The proposed work will considerably help the operation of automated CNC tools utilized in modern industries. Considerable enthusiasm was provided at IMTS 2004 in Chicago wherein the applicant had the opportunity to talk with representatives of machine tool builders. Many unique applications for the robots have been identified ranging from space exploration, environmental monitoring, and search and rescue operations.