Smart fixture for automation

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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.