ComputerAided_Design_Engineering_amp_Manufactur.pdf

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Using the above equation, the following expressions may be written describing the robot TCP position during the placement of horizontal clamps with respect to the fixture bed coordinate frame. © 2001 by CRC Press LLC (3.27) (3.28) (3.29) where the �RHCP is the translation in the X-direction from the coordinate frame describing the reference fixture position to that of the pick/place position, and �RHCCF is the initial (i.e., unclamped) clearance between the contact surfaces of the horizontal clamp and the workpiece. As an example, Figure 3.15 shows various locations at which the manipulator is required to interact with the horizontal clamp in order to perform pick/place and height adjustment operations. Therefore, functional locations on the fixture module and robot TCP poses may be obtained using the above formulation in a similar manner. Calculation of Interference Collision avoidance requires magnitude and direction information; it is generally used for path planning of robots providing alternative robot position. Thus, collision avoidance is not appropriate for application in fixture planning. This is mainly due to the fact that the fixture modules must be at locations where they would be in contact with the workpiece. The technique appropriate for fixture construction is interference detection requiring only a true or false result. Therefore, we are only interested in interference detection at critical locations during fixture construction. The proposed approach utilizes three tests to predict if any interference occurs between the fixture modules during the construction of the fixture. These tests include minimum separation, maximum separation, and model boundary. The underlying reason for minimum and maximum separation tests is to create a minimum region in which interference will occur, and a maximum region in which interference will not occur, regardless of the orientation of the fixture modules (Figure 3.16). The model boundary test is performed if the condition for minimum separation is met and the condition for maximum separation is not, thus taking into account the orientation of the fixture modules. The strategy and mathematical formulations for each test will be outlined using examples of cases involving interference between horizontal supports. Cases of interference detection involving other fixture modules follow similar hierarchical structure and formulations. Minimum Separation The test for minimum separation determines if the distance between the axes of the pick�place�adjustment coordinate frames of the two horizontal supports is smaller than the minimum distance required such that the bases of the two horizontal supports would not interfere with each other. Thus, if this condition is not satisfied, regardless of the orientation of the fixture modules, the two horizontal supports will collide during fixture setup. Figure 3.17 shows the schematic diagram of two horizontal supports located so that the shortest distance between the base centers is obtained. The geometrical constraint may be formulated mathematically as follows: or HC PXj HC PYj HC PZj � � HC FXj HC FYj � ( �RHCP � �RHCCF) cos( HCF�j) � ( �RHCP � �RHCCF) sin( HCF�j) � Z � �ZHCP where Z � 0 @ fixture bed coordinate frame �CC �HS ��HS �� min � �CC � 2�HS � � 0 (3.30) (3.31)
FIGURE 3.15 Illustration of functional locations on the horizontal clamp. (Reprinted from Reference 37, with permission from Elsevier Science.) where � HS is the minimum separation radius for the base signature of the horizontal support, � is the clearance between the two supports, and � CC is the distance between the base reference frames on the fixture modules and can be obtained using the following expression: © 2001 by CRC Press LLC �CC � ( � ) 2 ( � ) 2 � HS PXi HS PXj HS PYi HS PYj (3.32)
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COMPUTER-AIDED DESIGN, ENGINEERING,
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Library of Congress Cataloging-in-P
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Editor Cornelius T. Leondes, B.S.,
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Chapter 1 Chapter 2 Chapter 3 Chapt
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the implementation of the IPD syste
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In our IPD system implementations,
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2. Specification of analysis-specif
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FIGURE 1.2 base or the design insta
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FIGURE 1.4 System architecture of t
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of a beam is considered for FEA. Th
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FIGURE 1.7 through the control expe
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2. machining facility (e.g., gang m
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from the FBDS. The user also specif
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Depending on the type of feature to
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TABLE 1.6 Tolerance synthesis is de
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FIGURE 1.12 Display of the NC tool
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component geometric entities and va
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FIGURE 1.14 The system architecture
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TABLE 1.10 User Input for the Toler
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TABLE 1.11 Tolerance Specifications
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7. Z. Young and I. R. Groose. A rul
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FIGURE 2.1 Tool paths generated for
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FIGURE 2.2 sented by instances of f
Page 47 and 48: TABLE 2.1 A CAD-Generated Hole Conf
Page 49 and 50: FIGURE 2.6 mounted on the rotary ta
Page 51 and 52: FIGURE 2.8 fixture for the machinin
Page 53 and 54: FIGURE 2.10 or best-fit, or the cur
Page 55 and 56: FIGURE 2.11 Linear approximation of
Page 57 and 58: FIGURE 2.13 Circular approximation
Page 59 and 60: FIGURE 2.14(b) Circular approximati
Page 61 and 62: FIGURE 2.16 Types of biarcs. FIGURE
Page 63 and 64: FIGURE 2.18 Approximation of scanne
Page 65 and 66: FIGURE 2.20 A touch trigger probe c
Page 67 and 68: TABLE 2.4 Substitute Elements in CM
Page 69 and 70: FIGURE 2.21 CMM planning requiremen
Page 71 and 72: Product Model Representation for Co
Page 73 and 74: © 2001 by CRC Press LLC TABLE 2.5
Page 75 and 76: TABLE 2.7 Partial Listing of Dimens
Page 77 and 78: 24. Makinouchi, S., Okamoto, M., an
Page 79 and 80: Bijan Shirinzadeh Monash University
Page 81 and 82: FIGURE 3.1 Trends in flexible manuf
Page 83 and 84: FIGURE 3.3 and constrain different
Page 85 and 86: Other Fixturing Techniques There ar
Page 87 and 88: FIGURE 3.6 contact point. The geome
Page 89 and 90: FIGURE 3.8 The vertical support fix
Page 91 and 92: and moments about the contact point
Page 93 and 94: een identified, the normals are use
Page 95 and 96: one of choosing the variables: such
Page 97: Fixture Module Location An importan
Page 101 and 102: FIGURE 3.18 Minimum separation test
Page 103 and 104: direction) the face, respectively.
Page 105 and 106: FIGURE 3.21 Software structure for
Page 107 and 108: 3.8 Conclusion A reconfigurable fix
Page 109 and 110: Heui Jae Pahk Seoul National Univer
Page 111 and 112: FIGURE 4.1(b) Conceptual framework
Page 113 and 114: 4.3 Measurement Points Sampling and
Page 115 and 116: Surface S2 Measurement Path FIGURE
Page 117 and 118: FIGURE 4.4 Rough phase alignment ba
Page 119 and 120: deviation between the nominal CAD d
Page 121 and 122: FIGURE 4.6(a) Sum of squares distan
Page 123 and 124: FIGURE 4.7(c) Trailing edge. (c) th
Page 125 and 126: FIGURE 4.8(a) Profile tolerance of
Page 127 and 128: The calculated minimum form error i
Page 129 and 130: FIGURE 4.11(a) A typical mold havin
Page 131 and 132: FIGURE 4.11(d) Inspection results f
Page 133 and 134: FIGURE 4.12(c) Maximum deviation (p
Page 135 and 136: 5.1 Introduction Developments in th
Page 137 and 138: process plan for a part (Figure 5.3
Page 139 and 140: FIGURE 5.5 leading to the developme
Page 141 and 142: the previously stored process plan
Page 143 and 144: FIGURE 5.7 Techniques of defining a
Page 145 and 146: Feature Recognition and Extraction
Page 147 and 148: in relation to another feature (e.g
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FIGURE 5.9 Framework for building a
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FIGURE 5.10 Process plan content.
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FIGURE 5.12 Schematic sketch of the
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Several techniques of defining a fe
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TABLE 5.1 Data Structure for Repres
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FIGURE 5.16 Classification of the t
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system to ensure that the part bein
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FIGURE 5.19 Graphical model of the
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TABLE 5.4 Data Structure for Repres
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FIGURE 5.20 Mapping between machini
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algorithms. (Some details of the pr
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FIGURE 5.24 An example rotational p
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FIGURE 5.26 Down_face-turn-up_face
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FIGURE 5.27 Procedure for machine t
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FIGURE 5.28 Determining the number
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DL is needed to be set only if the
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FIGURE 5.31 Operation sequencing co
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Cutting Tool Selection Selection of
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1. A tool is searched for in the da
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FIGURE 5.32 Inputs to optimization
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When these values are substituted,
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Usually, maximum and minimum speed
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FIGURE 5.33 Solution methodology.
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TABLE 5.6 Process Plan Internal Rep
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In a strict theoretical perspective
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18. Domazet, D. S. and Lu, S. C. Y,
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63. Prasad, A. V. S. R. K., Rao, P.
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CAD systems. The sample consists of
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learn to master the new system. An
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Although researchers appear to agre
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Link and Zmud28 found that organic
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Informal Training Informal CAD trai
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informal training programs, felt th
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6. C. A. Beatty, Tall Tales and Rea
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A.Y.C. Nee National University of S
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FIGURE 7.1 Planning, design, and ma
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A metal stamping can have the follo
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FIGURE 7.3 Strips used to notch out
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A Skeletal Approach for the Recogni
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These findings can be used to devel
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Semi-Direct Piloting In cases where
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a larger value, the die operations
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FIGURE 7.9 Symbolic relationship be
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FIGURE 7.11 The shape of the envelo
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TABLE 7.1 Schema for the Generation
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strong reasons to support a move to
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FIGURE 7.16 3-D CAD model of a part
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References Cheok, B.T. et al. (1994
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include the once forbidden generati
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A temporal matrix (T-Matrix) is pro
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FIGURE 8.1 A basic process. (From R
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FIGURE 8.4(a) Generate a new IG usi
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Note if the pair of nodes are both
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TABLE 8.1 Summary of the Rules Cond
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The correctness of these rules is e
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needs to show that after each full
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ule is violated, a warning should b
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Π1 Π3 Π4 FIGURE 8.8(a) After add
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
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A ik � ‘U’ and is in a cycle
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FIGURE 8.12(a) Add [p2 t7 p7 t8 p4]
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FIGURE 8.12(c) Add a token to p8 vi
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FIGURE 8.12(e) Add [p8 t9 p14 t10 p
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FIGURE 8.13 An example of rule TT.0
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FIGURE 8.14 A GPN model of a machin
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FIGURE 8.15(b) The first exclusive
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FIGURE 8.15(d) The last exclusive T
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FIGURE 8.15(f) After entering the a
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FIGURE 8.15(h) Completion of Compon
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FIGURE 8.15(j) Two PP-generations:
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FIGURE 8.15(l) The last exclusive T
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t1 t5 p1 p5 t6 (a) t2 t3 t4 2 2 p2
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FIGURE 8.17 An example of partial f
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Theorem 10: If pi → pk in a synth
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Note that control transitions are o
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t j than the lower at , it indicate
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• Programming logic and VLSI arra
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7. Chao, D. Y. and D. T. Wang, Appl
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53. Villaroel, J. L., J. Martinez,
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q u : the numerator of the least ra
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geometric modeling, engineering ana
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In dimension driven or parametric d
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FIGURE 9.3 configuration of bodies
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FIGURE 9.6 FIGURE 9.7 Geometric Int
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FIGURE 9.8 Intersection of degrees
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will introduce a way to propagate p
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Completeness of Dimensions Complete
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FIGURE 9.12 3-D constraints. © 200
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The distance constraint from pt �
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therefore: Now merge the lists and
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Quantity analysis methods have the
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y a revolute joint. By selecting al
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