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

该研究解决了通过几个简单的模块化组件的接触来固定三维物体的问题，并在制造夹具设计和机器人抓取中得到了应用。该方法基于Rimon和Burdick提出的二阶不动的运动学概念。从实际应用的角度来看，计划研究的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)开发有效的算法来自动枚举所有夹具/夹持器配置以及相应的工件位置和方向，从而使真正的三维工件完全固定；(2)制定能够处理抓取和夹具加载过程中定位不确定性的抓取和夹具规划策略；(3)更一般地说，开发通用的分析工具，用于持有和操纵具有离散和连续自由度混合的设备的复杂三维形状。在这个项目中实现的过程将通过实际夹具和新型自动可重构夹具的原型进行实验来评估。

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.