Smart fixture for automation

加工和装配过程需要工作保持装置，通常称为夹具和定位器。计算机控制的机床在制造各种各样的零件方面提供了极大的灵活性。对于复杂的零件，即使是专家，夹具和定位器的设计也是非常耗时的。设置时间是总处理时间的重要组成部分。大幅减少设置时间无疑将提高吞吐量。本课题将开发多指机械手。它的设计将类似于钢琴演奏者手指的运动。它将能够有选择地从选定的点抓取或释放，以及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。整个操作将由计算机控制。适当的模型将考虑工具施加的动态力，从CAD几何文件中提取夹紧位置，选择初始夹紧位置和确定重新定位点，驱动执行器的控制算法将被开发和集成。该夹具适用于机器人和计算机数控机床的应用。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蛭的运动，机器人目前由一个低级微控制器控制。夹具方法将被适当地修改，以开发更有效和稳定的表面抓取。目前，这些机器人能够爬上光滑的垂直杆和倾斜的表面。所提出的工作将大大有助于现代工业中使用的自动化数控工具的操作。IMTS 2004在芝加哥提供了相当大的热情，申请人有机会与机床制造商的代表交谈。已经确定了机器人的许多独特应用，包括空间探索，环境监测和搜救行动。

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.