"Unilateral" fixturing of sheet metal parts using modular jaws with plane-cone contacts

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 3953-3958

  Gopalakrishnan, K Gopal ^a   Zaluzec, Matthew ^b   Koganti, Rama ^b   Deneszczuk, Patricia ^b   Goldberg, Ken ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b FORD MOTOR COMPANY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CYLINDRICAL JAWS; INFINITESIMAL RELAXATION; SHEET METAL PARTS; UNILATERAL FIXTURES; VERTEX GROOVE GRIPS;

ALGORITHMS; COMPONENTS; DESIGN; FINITE ELEMENT METHOD; HEURISTIC METHODS; WELDING;

SHEET METAL;

EID: 0344896605     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (25)

1. A. Bicchi and Vijay Kumar, Robotic Grasping and Contact: A Review, Proceedings of IEEE International Conference on Robotics and Automation, pp348-353, 2000
2. Cai W., Hu S.J., Yuan J.X., Deformable sheet metal fixturing: principles, algorithms, and simulations. Transactions of the ASME. Journal of Manufacturing Science and Engineering, vol.118, (no.3), ASME, Aug. 1996, p. 318-24.
3. J. F. Canny, K. Y. Goldberg, "RISC" industrial robotics: recent results and open problems, IEEE International Conference on Robotics and Automation, vol.3, pp.: 1951-1958, 1994.
4. http://toyota.irweb.jp/IRweb/corp_info/body_line/ Global Portal, Toyota.
5. Gopalakrishnan K., Goldberg K., Gripping parts at concave vertices, Proceedings, IEEE International Conference on Robotics and Automation, 2002, Page(s): 1590-1596, Volume: 2, 2002.
6. Lee J. D., and Haynes L. S., Finite Element Analysis of Flexible Fixturing Systems, ASME J. Eng. Ind., 109, pp. 134-139, 1987.
7. Li B., Shiu B.W., Lau K.J., Fixture configuration design for sheet metal assembly with laser welding: a case study. International Journal of Advanced Manufacturing Technology, vol.19, (no.7), Springer-Verlag, 2002. p.501-9.
8. Li H. F., Ceglarek D., Shi J., A Dexterous Part-Holding Model for Handling Compliant Sheet Metal Parts, ASME Transactions, Journal of Manufacturing Science and Engineering. Vol. 124, No. 1, pp. 109-118, 2002.
9. X. Markenscoff, L. Ni and C. H. Papadimitriou, The Geometry of Grasping, International Journal of Robotics Research, Vol. 9, No. 1, pp 61-74, 1990.
10. Mason, M.T., Mechanics of Robotic Manipulation, The MIT Press, 2001.
11. Menassa R., De Vries W., Optimization Methods Applied to Selecting Support Positions in Fixture Design, ASME Journal of Engineering for Industry, vol 113, pp. 412-418, 1991.
12. B. Mishra, J. Schwarz, and M. Sharir, On the existence and Synthesis of Multifinger Positive Grips, Algorithmica 2, 1987.
13. Plut, W.J., Bone, G.M., Limited mobility grasps for fixtureless assembly, Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, Volume: 2, 1996, Page(s): 1465-1470 vol.2.
14. Plut, W.J., Bone, G.M., 3-D flexible fixturing using a multi-degree of freedom gripper for robotic fixtureless assembly, Robotics and Automation, 1997. Proceedings., 1997 IEEE International Confererence on, Volume: 1, 1997, Page(s): 379-384 vol.1.
15. Jean Ponce, Joel Burdick and Elon Rimon, Computing the Immobilizing Three-Finger Grasps of Planar Objects, Proceedings of the Workshop on Computational Kinematics, 1995.
16. Rearick M.R., Hu S.J., Wu S.M., Optimal Fixture Design for Deformable Sheet Metal Workpieces, Transactions of NAMRI/SME, vol. XXI, pp. 407-412.
17. F. Reuleaux, The Kinematics of Machinery. New York: Macmillan 1876, republished by New York: Dover, 1963.
18. Rimon E. and Burdick J., On force and form closure for multiple finger grasps, Proceedings of IEEE International Conference on Robotics and Automation, 1996, pp. 1795-1800 vol.2.
19. Elon Rimon and Joel Burdick, Mobility of bodies in contact - I, IEEE transactions on Robotics and Automation, 14(5): 696-708, 1998.
20. Rimon, E. and Blake, A., Caging planar bodies by one-parameter two fingered gripping systems, International Journal of Robotics Research, v18, n3, March 1999, pp. 299-318.
21. Salisbury, J.K. Kinematics and Force Analysis of Articulated Hands. Ph.D. Thesis, Stanford University, 1982
22. Sela M.N., Gaudry O., Dombre E., Benhabib B., A reconfigurable modular fixturing system for thin-walled flexible objects, International Journal of Advanced Manufacturing Technology, 13:611-617, 1997.
23. P. Somoff, Uber gebiete von schraubengeschwindigkeiten eines starren korpers bieverschiedener zahl von stuz achen, Zeitschrift fur Mathematic and Physik, vol. 45, pp. 245-306, 1900.
24. Van der Stappen A.F., Wentink C., Overmars M.H., Computing form-closure configurations, Proceedings of IEEE International Conference on Robotics and Automation, vol.3, pp. 1837-1842, 1999.
25. M. Y. Wang, Tolerance analysis for fixture layout design, Assembly Automation, a special issue on Automated Fixturing, vol. 2, no. 2, pp. 153-162, 2002.