Automatic Fixture Design for Robotic Assembly

机器人装配的按钮式设计中缺少的元素之一是零件演示的夹具配置的自动生成。过去的研究主要集中在用最少的零件几何形状进行加工的夹具。本研究解决的问题是：给定零件或子部件几何图形及其物理特性，自动确定在特定装配操作中保持零件所需的夹具。对于分析，将使用有限的基本体形状、抓取点、夹具元素和装配操作集。考虑这些组具有(A)合力、(B)公差、(C)灵活性、(D)材料特性和(E)不打滑的稳定性，以通过算法建立夹具的几何构型。这个潜在的装置可以在实体建模器上建模。夹具和零件模型之间的干涉检查，可以验证夹具模型。使用的工具将是实体建模、运动学和动力学仿真软件包以及组合夹具套件，以对分析结果进行经验验证。本研究为机器人自动装配夹具设计提供了一种解析算法方法。

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.