Force-assemblability: insertion of a workpiece into a fixture guided by contact forces alone
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1296-1301 vol.2
- https://doi.org/10.1109/robot.1991.131791
Abstract
The authors describe the concept of force-assemblability, which may be applied to fixture insertion as well as other assembly tasks. They define a linear force assemblable fixture to be one for which there exists a linear motion control law (examples of which include compliance and accommodation) which necessarily results in workpiece contact with all fixture elements (fixels) despite initial positional error. For reliable insertion, the fixture should have the property that contact with all fixels insures a unique workpiece position (i.e. the fixture should be deterministic) and the property that, after the inserting motion terminates, contact with all fixels is insured. It is shown that all deterministic fixtures are force-assemblable when friction is less than some value dictated by the workpiece/fixture geometry. It is also shown how to generate a motion control law that satisfies force-assemblability at this value of friction.<>Keywords
This publication has 6 references indexed in Scilit:
- Kinematic methods for automated fixture reconfiguration planningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Constructing force-closure graspsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Kinematic analysis of workpart fixturing for flexible assembly with automatically reconfigurable fixturesIEEE Journal on Robotics and Automation, 1985
- Application of linear algebra to screw systemsMechanism and Machine Theory, 1982
- An Extension of Screw TheoryJournal of Mechanical Design, 1981
- A treatise on the theory of screws, by Sir Robert Stawell Ball.Published by Smithsonian Institution ,1900