Algebraic structure and geometric interpretation of rigid complex fixture systems

IEEE Transactions on Automation Science and Engineering

Volumn 4, Issue 2, 2007, Pages 252-264

  Xiong, Youlun ^a   Xiong, Xiaorong ^b  

^a HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

^b UNIVERSITY OF WASHINGTON   (United States)

Author keywords

Accessibility; Approachability; Complex fixture; Rigidity constraint

Indexed keywords

FIXTURES (TOOLING); MATHEMATICAL MODELS; PRODUCT DESIGN; PRODUCTION CONTROL;

ACCESSIBILITY; APPROACHABILITY; COMPLEX FIXTURE; RIGIDITY CONSTRAINT;

LARGE SCALE SYSTEMS;

EID: 34147122054     PISSN: 15455955     EISSN: None     Source Type: Journal    
DOI: 10.1109/TASE.2006.872118     Document Type: Article

References (31)

1. H. Asada and A. B. By, "Kinematic analysis of workpart fixturing for flexible assembly with automatically reconfigurable fixture," IEEE J. Robot. Autom., vol. 1, no. 2, pp. 86-94, Apr. 1985.
2. Y. L. Xiong, D. J. Sanger, and D. R. Kerr, "Optimal synthesis of point contact restraint," Proc. ImechE, Part C: Mech. Eng. Sci., vol. 206, no. 2, pp. 305-311, 1992.
3. M. S. Ohwororiole and B. Roth, "An extension of screw theory," ASME J. Mech. Design, vol. 103, no. 10, pp. 725-735, 1981.
4. D. J. Montana, "The kinematics of contact and grasp," Int. J. Robot. Res., vol. 7, no. 3, pp. 17-25, 1988.
5. F. Reuleaux, The Kinematics of Machinery, New York: Macmillan, 1876.
6. B. Mishra, J. T. Schwartz, and M. Sharir, "On the existence and synthesis of multifinger positive grips," Algorithmica, vol. 2, pp. 541-558, 1987.
7. X. Markenscoff, L. Ni, and C. H. Papadimitriou, "The geometry of grasping," Int. J. Robot. Res., vol. 9, pp. 61-74, 1990.
8. K. Lakshminarayana, in Mechanics of Form Closure, 1978, ASME paper 78-DET-32.
9. A. Bicchi, "On the closure properties of robotic grasping," Int. J. Robot. Res., vol. 14, no. 4, pp. 319-344, 1995.
10. J. C. Trinkle, A. O. Farahat, and P. F. Stiller, "Second-order stability cells of a frictionless rigid body grasped by rigid fingers," in Proc. IEEE Robotics Automat., May 1994, vol. 4, pp. 2815-2821.
11. E. Rimon and J. W. Burdick, "Mobility of bodies in contact - I: a 2ndorder mobility index for multiple-finger grasps," IEEE Trans. Robot. Autom., vol. 14, no. 5, pp. 696-708, Oct. 1998.
12. E. Rimon and J. W. Burdick, "Mobility of bodies in contact - II; how forces are generated by curvature effects," IEEE Trans. Robot. Autom., vol. 14, no. 5, pp. 709-717, Oct. 1998.
13. J. Ponce, S. Sullivan, A. Sudsang, J.-D. Boissonnat, and J. P. Merlet, "On computing four-finger equilibrium and force-closure grasps of polyhedral objects," Int. J. Robot. Res., vol. 16, no. 1, pp. 11-35, 1997.
14. R. C. Brost and R. P. Peters, "Automatic design of 3-D fixtures and assembly pallets," Int. J. Robot. Res., vol. 17, no. 12, pp. 1243-1281, 1998.
15. C. H. Xiong and Y. L. Xiong, "Stability index and contact configuration planning of multifigured grasp," J. Robot. Syst., vol. 15, no. 4, pp. 183-190, 1998.
16. Y. H. Liu, "Qualitative test and force optimization of 3D fictional forceclosure grasps using linear programming," IEEE Trans. Robot. Autom., vol. 15, no. 1, pp. 163-173, Feb. 1999.
17. N. Y. Wang, "An optimum design for 3-D fixture synthesis in a point set domain," IEEE Trans. Robot. Autom., vol. 16, no. 6, pp. 839-846, Dec. 2000.
18. D. Ding, Y. H. Liu, M. Y. Wang, and S. Wang, "Automatic selection of fixturing surfaces and fixturing points for polyhedral workpieces," IEEE Trans. Robot. Autom., vol. 17, no. 6, pp. 833-841, Dec. 2001.
19. A. Bicchi, "Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity," IEEE Trans. Robot. Autom., vol. 16, no. 6, pp. 652-662, Dec. 2000.
20. Y. L. Xiong, H. Ding, and M. Y. Wang, "Quantitative analysis of inner force distribution and load capacity of grasps and fixtures," J. Manuf. Sci. Eng., Trans. ASME, vol. 124, pp. 444-455, 2002.
21. F. T. Cheng and D. E. Orin, "Efficient algorithm for optimal force distribution - the compact-dual LP method," IEEE Trans. Robot. Autom., vol. 6, no. 2, pp. 178-187, Apr. 1990.
22. J. C. Trinkle, "On the stability and instantaneous velocity of grasped frictionless objects," IEEE Trans. Robot. Autom., vol. 8, no. 5, pp. 560-572, Oct. 1992.
23. H. Asada and M. Kitagawa, "Kinematic analysis and planning for form closure grasps by robotic hands," Robot. Integr. Manuf., vol. 5, no. 4, pp. 293-299, 1989.
24. Y. L. Xiong, "Theory and methodology for concurrent design of reconfiguration fixture," Proc. IEEE Robotics Automat., pp. 305-311, 1993.
25. M. C. Bazarra and C. M. Shetty, Nonlinear Programming Theory and Algorithms. New York: Wiley, 1980, pp. 46-53.
26. D. G. Luenberger, Linear & Nonlinear Programming. Reading, MA: Addison-Wesley, 1984.
27. H. Tuy, Convex Analysis and Global Optimization. Norwell, MA: Kluwer, 1998, pp. 9-11.
28. V. D. Nguyen, "Constructing force-closure grasp," Int. J. Robot. Res., vol. 7, no. 3, pp. 3-16, 1988.
29. R. T. Rockafellar, Convex Analysis. Princeton, NJ: Princeton Univ. Press, 1972, pp. 43-50.
30. J. K. Salisbury and B. Roth, "Kinematic and force analysis of articulated mechanical hands," ASME J. Mechanisms, Transm. Autom. Design, vol. 105, pp. 35-41, 1983.
31. Z. Li and S. Sastry, "Task oriented optimal grasping by multifingered robot hands," IEEE Trans. Robot. Autom., vol. 4, pp. 32-44, Feb. 1988.