Brost, R. C., and Goldberg, K. Y. 1996. A complete algorithm for designing planar fixtures using modular components. IEEE Transactions on Robotics and Automation 12(1):31-- 46.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....is actually tested, with the consequent lost of time and money if the test is unsuccessful. Although several tools have been developed to compute some of the answers needed by designers (i.e. compute a feasible assembly sequence [31, 78, 51, 38] compute a fixturing grasping configuration [9, 59], analyze the stability of two bodies in contact [52] etc) they have been developed in an isolated fashion making hard to integrate their results. Each tool uses its own object models (which highlight some particular analysis features) sets of constraints, scale factors, and base units (inches, ....

....locally, a mass properties calculator developed by Brian Mirtich [54] a convex hull generator developed by Barber and Huhdanpaa [6] an stability index calculator developed locally, and a fixturing sets generator developed by Richard J. Wagner based on the algorithm of Brost and Goldberg [9]. Even thought the test bed is not a full implementation of the proposed system, it was used to figure out the kind of problems a design engineer must face if he she try to integrate by himself herself a set of analyzers. It was also used to generate an example to illustrate a simple run of the ....

R. C. Brost and K. Y. Goldberg. A complete algorithm for designing planar fixtures using modular components. IEEE Transactions on Robotics and Automation, 12(1):31--46, February 1996.

....prevent all finite motion of an object, due to curvature effects, despite 5 the fact that differential analysis may not identify the grasp as force or form closure. Fewer frictionless contacts are required for second order immobility than for complete force or form closure. Brost and Goldberg [23] describe an algorithm for designing planar fixtures from a modular fixture kit. These fixtures are four point frictionless form closure, and can be selected based on arbitrary criteria for optimality. Wallack [92] presents two fixturing algorithms, one which completely enumerates all feasible ....

R. C. Brost and K. Y. Goldberg. "A Complete Algorithm for Designing Planar Fixtures Using Modular Components", IEEE Transactions on Robotics and Automation, vol. 12, no. 1, pp. 31-46, 1996.

....metric for new design D with its best generatively designed fixture. The best generatively designed fixtures provide the least maximum contact reaction force for an applied unit torque (clockwise or counter clockwise) The reciprocal of this reaction force is called the torque resistance metric [Bro96], which is the measure of quality and usefulness of a fixture for a given design, in our discussion. If the maximum contact reaction force is smaller, the metric is larger. Therefore, for any design, the best generatively designed fixture yields the highest quality metric. This implies that the ....

....the part in the supporting plane. Thus, only the 2D projection of any given design onto the supporting plane is considered for fixture planning. Only polygonal shapes are considered. In this setting, a fixture is a set of three locators (pins) and one clamp. Generative fixture planning approaches [Bro96, Zhu96] have been developed for this domain. However, because they create a unique fixture for each design, generative approaches do not support the need to reuse fixtures. Given a new design D, and an existing design D, we define the fixture based design similarity measure h(D ,D) 1 ) ....

Brost, R.C. and Goldberg, K.Y., A Complete Algorithm for Designing Planar Fixtures using Modular Components, IEEE Transactions on Robotics and Automation, Volume 12, Number 1, February 1996.

.... no form closure fixture exists; but, if parts are restricted to be rectilinear with all edges longer than four lattice units, a form closure fixture always exists [Zhuang, Goldberg, and Wong, 1994] When the fixturing kit consists of a latticed workholding plane, three locators, and one clamp, [Brost and Goldberg, 1996] find all possible placements of a given part on the workholding surface where form closure can be achieved, along with the corresponding positions of the locators and the clamp. 3.1.3 Part feeding Part feeders account for a large fraction of the cost of a robotic assembly workcell. A typical ....

Brost, R.C. and Goldberg, K.Y. 1996. Complete Algorithm for designing Planar Fixtures Using Modular Components. IEEE Tr. on Systems, Man and Cybernetics, 12:31-46.

.... design can be achieved [ZGW94] but, if parts are restricted to be rectilinear, a fixture can always be found as long as all edges have length of four or more lattice units [Mis91] When the fixturing kit consists of a latticed workholding plane, three locators, and one clamp, the algorithm in [BG96] finds all possible placements of a given part on the workholding surface where form closure can be achieved, along with the corresponding positions of the locators and the clamp. The algorithm in [ORSW95] computes the form closure fixtures of input polygonal parts using a kit containing one edge ....

R.C. Brost and K.Y. Goldberg. A complete algorithm for designing planar fixtures using modular components. IEEE Tr. on Syst., Man and Cyber., 12:31--46, 1996.

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R. Brost and K. Goldberg. A complete algorithm for designing planar fixtures using modular components. IEEE Transactions on Robotics and Automation, 12:31--46, 1996.

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Randy C. Brost and Kenneth Y. Goldberg. A complete algorithm for designing planar fixtures using modular components. IEEE Transactions on Robotics and Automation, 12(1); 31-46, February 1996.

....the first one that applies work on grasping to fixturing using an regular lattice. Nguyen [15] gives a geometric test for form closure, given 4 coplanar contacts. Pertin Troccaz [20] gives a good survey of grasping literature. Recently there is a surge of research on fixturing. Brost and Goldberg [2] present the first complete synthesizing algorithm that guarantees to find a fixture, consisting of 3 locators and 1 clamp, for any given polygons, if one exists, and return failure otherwise. Wallack and Canny [25] present a complete algorithm for a fixturing model using 4 locators on a split ....

....general method for worst case limit kinematic tolerance analysis: computing the range of variation in the kinematic function of mechanism from its part tolerance specifications. 3 Multi purpose Fixtures For a planar workpiece, we often have multiple ways to fixture it. Indeed Brost and Goldberg [2] present a complete algorithm that computes the complete set of fixtures for any given polygonal planar part. Redesign and reconfiguration of fixtures does not only cost money, but also time. Therefore it would be desirable to reuse the same fixture for multiple parts. We call such a fixture a ....

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Randy C. Brost and Kenneth Y. Goldberg. A complete algorithm for designing planar fixtures using modular components. IEEE Transactions on Robotics and Automation, 12(1):31--46, February 1996.

No context found.

Brost, R. C., and Goldberg, K. Y. 1996. A complete algorithm for designing planar fixtures using modular components. IEEE Transactions on Robotics and Automation 12(1):31-- 46.

No context found.

R. Brost and K. Goldberg. A complete algorithm for designing planar fixtures using modular components. IEEE Transactions on Robotics and Automation, 12:31--46, 1996.

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