A complete algorithm for designing planar fixtures using modular components

IEEE Transactions on Robotics and Automation

Volumn 12, Issue 1, 1996, Pages 31-46

  Brost, Randy C ^a,b   Goldberg, Kenneth Y ^a,c  

^a IEEE

^b SANDIA NATIONAL LABORATORIES   (United States)

^c DEPARTMENT OF INDUSTRIAL ENGINEERING AND OPERATIONS RESEARCH   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATION; COMPUTER AIDED DESIGN; CONSTRAINT THEORY; FIXTURES (TOOLING); FRICTION; GEOMETRY; GRAPH THEORY; KINEMATICS; MACHINING; POLYNOMIALS; PROBLEM SOLVING; THREE DIMENSIONAL;

FIXTURE ELEMENT; GRAPHICAL FORCE ANALYSIS; MODULAR COMPONENTS; PLANAR FIXTURE DESIGN;

ALGORITHMS;

EID: 0030083491     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.481749     Document Type: Article

References (41)

1. C. Chang, "Computer-assisted fixture planning for machining processes," Manufact. Rev., vol. 5, no. 1, pp. 15-28, Mar. 1992.
2. B. Shirinzadeh, "Issues in the design of the reconfigurable fixture modules for robotic assembly," J. Manufact Syst., vol. 12, no. 1, pp. 1-14, 1993.
3. F. Mason, "Modular tooling system zaps setup," Amer. Machinist, Mar. 1992.
4. E. G. Hoffman, Modular Fixturing. Lake Geneva, WI: Manufact. Technol., 1987.
5. F. Reuleaux, The Kinematics of Machinery. Macmillan, 1876. (Reprinted by New York: Dover, 1963.)
6. Y. Zhuang, K. Y. Goldberg, and Y. Wong, "On the existence of modular fixtures," in Proc. IEEE Int. Conf. Robotics and Automation, May 1994, pp. 543-549. (Also USC Tech. Rep. IRIS-93-314.)
7. E. N. Ohwovoriole, "Kinematics and friction in grasping by robotic hands," Trans. ASME, vol. 109, 1987.
8. X. Markenscoff, L. Ni, and C. H. Papadimitriou, "The geometry of grasping," Int. J. Robot. Res., vol. 9, no. 1, pp. 61-74, Feb. 1990.
9. P. Somoff, "Über gebiete von schraubengeschwindigkeiten eines festen korpers bei verschiedener zal von stutzflachen," Zeitschrift fur Mathematik und Physik, vol. 45, pp. 245-306, 1900.
10. K. Lakshminarayana, "The mechanics of form closure," Amer. Soc. Mech. Eng., Tech. Rep. 78-DET-32, 1978.
11. B. Mishra, "Workholding: Analysis and planning," In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Nov. 1991, pp. 53-57.
12. H. Asada and A. B. By, "Kinematic analysis of workpart fixturing for flexible assembly with automatically reconfigurable fixtures," IEEE Trans. Robot. Automat., vol. RA-1, no. 2, pp. 86-94, June 1985.
13. M. R. Cutkosky, "Grasping and fine manipulation for automated manufacturing," Ph.D. dissertation, Dep. Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, Jan. 1985.
14. Z. Li and S. S. Sastry, "Task-oriented optimal grasping by multifingered robot hands," IEEE Trans. Robot. Automat., vol. RA-4, no. 1, pp. 32-43, 1988.
15. X. Markenscoff and C. H. Papadimitriou, "Optimum grip of a polygon," Int. J. Robot. Res., vol. 8, no. 2, pp. 17-29, Apr. 1989.
16. J. C. Trinkle, "A quantitative test for form closure grasps," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, July 1992, pp. 1670-1677.
17. C. Ferrari and J. Canny, "Planning optimal grasps," in Proc. IEEE Int. Conf. Robotics and Automation, May 1992, pp. 2290-2295.
18. D. Kirkpatrick, B. Mishra, and C. K. Yap, "Quantitative steinitz's theorems with applications to multifingered grasping," Discrete Computat. Geometry, vol. 7, pp. 295-318, 1992.
19. J. J. Bausch and K. Youcef-Toumi, "Kinematic methods for automated fixture reconfiguration planning," in Proc. IEEE Int. Conf. Robotics and Automation, May 1990, pp. 1396-1401.
20. P. J. Englert, "Principles for part setup and workholding in automated manufacturing." Ph.D. dissertation, Dep. Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, Dec. 1987.
21. H. Sakurai, "Automated setup planning and fixture design for machining," Ph.D. dissertation, Dep. Mech. Eng., Mass. Inst. Technol., Cambridge, Jan. 1990.
22. S. H. Lee and M. R. Cutkosky, "Fixture planning with friction," Trans. J. Eng. Ind., vol. 113, pp. 320-327, Aug. 1991.
23. K. H. Kim, "A system for automated fixture planning with modular fixtures," Ph.D. dissertation, Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, May 1993.
24. M. V. Gandhi and B. S. Thompson, "Automated design of modular fixtures for flexible manufacturing systems," J. Manufact. Syst., vol. 5, no. 4, pp. 243-252, 1986.
25. Paul H. Cohen, "Automated fixture design," in National Science Foundation Design and Manufacturing Systems Conf., Jan. 1991, pp. 405-413. (Published by the Soc. Manufact. Eng.)
26. J. M. Schimmels and M. A. Peshkin, "Admittance matrix design for force-guided assembly," IEEE Trans. Robot Automat., vol. 8, no. 2, pp. 213-227, Apr. 1992.
27. _, "Force-assembly with friction," IEEE Trans. Robot. Automat., vol. 10, no. 4, pp. 465-479, Aug. 1994.
28. W. Boyes, Ed., Handbook of Jig and Fixture Design, 2nd ed. Soc. Manufact. Eng., 1989.
29. B. Mishra, J. T. Schwartz, and M. Sharir, "On the existence and synthesis of multifinger positive grips," Algorithmica, vol. 2, no. 4, pp. 641-558, 1987.
30. V. Nguyen, "Constructing force-closure grasps," Int. J. Robot. Res., vol. 7, no. 3, pp. 3-16, June 1988.
31. J. Ponce and B. Faverjon, "On computing three-finger force-closure grasps of polygonal objects," Beckman lost., Univ. Illinois, Urbana-Champaign, Tech. Rep. UIUC-BI-AI-RCV-93-05, 1993.
32. J. C. Trinkle and R. P. Paul, "Planning for dextrous manipulation with sliding contacts," Int. J. Robot. Res., vol. 9, no. 3, pp. 24-48, June 1990.
33. M. Mani, "Automatic design of workholding fixtures using kinematic constraint synthesis," Ph.D. dissertation, Dep. Mech. Eng., Northwestern Univ., Evanston, IL, Aug. 1988.
34. Y-C. Chou, V. Chandru, and M. M. Barash, "A mathematical approach to automatic configuration of machining fixtures: Analysis and synthesis," J. Eng. Ind., vol. 111, pp. 299-306, Nov. 1989.
35. C. C. Hayes and P. K. Wright, "Automating process planning: Using feature interactions to guide search," J. Manufact. Syst., vol. 8. no. 1, pp. 1-15, 1989.
36. C. C. Hayes, "Machining planning: A model of an expert level planning process," Ph.D. dissertation, Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, Dec. 1990.
37. A. Wallack and J. Canny, "Planning for modular and hybrid fixtures," in Proc. IEEE Int. Conf. Robotics and Automation, May 1994, pp. 520-527.
38. R. C. Brost and M. T. Mason, "Graphical analysis of planar rigid-body dynamics with multiple frictional contacts," in Robotics Research: The Fifth International Symposium, H. Miura and S. Arimoto, Eds. Cambridge, MA: MIT Press, 1990, pp. 293-300,
39. R. C. Brost, "Analysis and planning of planar manipulation tasks," Ph.D. dissertation, School Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, Jan. 1991. (Also, Tech. Rep. CMU-CS 91-149, Carnegie Mellon Univ., Pittsburgh, PA.)
40. M. Erdmann, "On a representation of friction in configuration space," Int. J. Robot. Res., vol. 13, no. 3, pp. 240-271, June 1994.
41. A. O. Farahat, P. F. Stiller, and J. C. Trinkle, "On the algebraic geometry of contact formation cells for systems of polygons," in review.