Affiliation:
1. Center for Design Research, Mechanical Engineering Dept., Stanford University, Stanford, CA 94305
Abstract
A fixture planning module is being developed as part of a computational system for concurrent product and process design. The module employs symbolic and numerical analyses at different levels of detail, from fast geometric checks to more time consuming force and friction analyses, depending on the completeness of the machining plan. In this paper we focus on the approaches used for analyzing fixture kinematics and clamping forces, including the analysis of friction. Since many fixture arrangements rely on friction to hold a part, the ability to reason about friction is an important component of fixture planning. Limit surfaces in force/moment space are introduced as a convenient formalism to check whether parts will slip and to help in specifying clamping forces.
Cited by
54 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献
1. Pose-and-shear-based tactile servoing;The International Journal of Robotics Research;2024-01-30
2. Robust planning for multi-stage forceful manipulation;The International Journal of Robotics Research;2023-12-01
3. Unwieldy Object Delivery With Nonholonomic Mobile Base: A Stable Pushing Approach;IEEE Robotics and Automation Letters;2023-11
4. Contact-Aware Non-Prehensile Manipulation for Object Retrieval in Cluttered Environments;2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2023-10-01
5. Analysis of reaction forces in fixture locating points: An Analytical, numerical, and experimental study;Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture;2023-08-28