A System for Automated Fixture Planning with Modular Fixtures

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Thesis Robotics A System for Automated Fixture Planning with Modular Fixtures ACCEPTED: Kyoung Hung Kim Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy in the field of Robotics . \ t DEAN DATE APPROVED.
Page 1: A System for Automated Fixture Plan
Page 7: This !he& is dedicated IO My Pareru
Page 11 and 12: I Table of Contents 1. Introduction
Page 13: 68. Determining the height and lora
Page 16 and 17: Figure 6-18: Figure 6-19 Figure 6-2
Page 19 and 20: 1.1. Background 1 Chapter 1 Introdu
Page 21 and 22: 3 Varicus compnrer-aided iixture ph
Page 23 and 24: 5 By &mating the necessary clamping
Page 25: 1.7. Contributions Majmmnmbutions o
Page 28 and 29: 2.2. Generative FWe Planning System
Page 30 and 31: 22.1. Research Related to Fixture p
Page 32 and 33: 14 In order to huther automate fixh
Page 34 and 35: 3.2. Interference Checking 16 The l
Page 36 and 37: IS Depending on objects’ shape, o
Page 38 and 39: 33.1. Application of Screw Theory S
Page 40 and 41: Vise jaws should be pked against th
Page 42 and 43: milling cutter Fa 24 piwe 3-7: 3 fo
Page 44 and 45: 3.4.2. Computation of Clamping Forc
Page 46 and 47: 28 Friction force's magnitude and d
Page 48 and 49: 30 In a future plan with overhead c
Page 50 and 51: 32 When a cutting force OT clamping
Page 52 and 53:
46.1. Current Fixturing Practice 34
Page 54 and 55:
36 The fixture plan with a smaller
Page 56 and 57:
38 A prismatic part is typically lo
Page 58 and 59:
machined part geomeXry. While the p
Page 60 and 61:
42 cutter paths. For the complete i
Page 62 and 63:
44 Figure 4-T Force directions used
Page 64 and 65:
45 kt Figme 4-9 A simplitid geometr
Page 66 and 67:
4.7. Selection of Fiiture Plans Fig
Page 68 and 69:
Pm=HxPp where H is a homogeneous tr
Page 70 and 71:
52 T slots or pin holes on a btse p
Page 72 and 73:
54 None found Select a clamp type 1
Page 74 and 75:
56 5.4. Generation of Candidate Cla
Page 76 and 77:
58 desirable contact area clamp - X
Page 78 and 79:
aised from the base. The part needs
Page 80 and 81:
62 consrmcted In the part coordinat
Page 82 and 83:
Z Y A X -X 64 volume of a cutter pa
Page 84 and 85:
clamp 56.5. Checking with Clampable
Page 86 and 87:
plans. In order to reduce computati
Page 88 and 89:
70 Figure 5-16: Contact area at a c
Page 90 and 91:
72 Y Y T t 1 1 I X X In any case, t
Page 92 and 93:
74 5.9.5. Checking Interference aga
Page 94 and 95:
ClamQ 76 I I Figure 5-22: placing e
Page 97 and 98:
6.1. Introduction 79 Chapter 6 Fixt
Page 99 and 100:
81 contact planes for a movable jaw
Page 101 and 102:
6.4. Identification of the Common C
Page 103 and 104:
a5 Z t Z common contact area contac
Page 105 and 106:
a7 aba w For each obstacle, = z- Fi
Page 107 and 108:
d d d d Let x ,. hx, z-, and z,,,~
Page 109 and 110:
91 b a If x . - xmsl < L+ the area
Page 111 and 112:
&,,, the coordinates of the first c
Page 113 and 114:
95 d However, when G~ 5 Hjav + d, m
Page 115 and 116:
Case 1: When hi,, z I d o n d o n =
Page 117 and 118:
=. X I' c L x- d I d x, X 99 Figure
Page 119 and 120:
Figure 6-23: Determination of the h
Page 121 and 122:
6.9.1. Identifying the Contact Area
Page 123 and 124:
6.10. Rating Fixture PIans When mor
Page 125 and 126:
7.L Introduction Chapter 7 Implemen
Page 127 and 128:
Part geometry 109 me modeler is bas
Page 129 and 130:
(plan ( (type setup11 (name planl)
Page 131 and 132:
113 FEM can be used to automate the
Page 133 and 134:
-.I I P Figure 7-5: Fmture plans wi
Page 135 and 136:
117 7.42. Example setup 2: A rectan
Page 137 and 138:
119 i 2 0 0 L Fw 7-8: Fixture. p h
Page 139 and 140:
121 II Figure 7-10 fixture plans wi
Page 141 and 142:
7.5. Examples: Fixture Plans for Te
Page 143 and 144:
125 Figure 7-13: A fixture plan for
Page 145 and 146:
II i r P i e 7-15: Frxture plans fo
Page 147 and 148:
i, Y 0 \ Figure 7-17: Future plans
Page 149 and 150:
8.1. Summary 133 Chapter 8 Discussi
Page 151 and 152:
8.2. Dseussion I 35 The system is a
Page 153 and 154:
131 8.2.6. Generating the Most Cost
Page 155 and 156:
139 Chapter 9 Conclusion The contri
Page 157 and 158:
141 Chapter 10 Future Work nber aut
Page 159 and 160:
Appendix A Screw Theory In this see
Page 161 and 162:
Maximizeorminimize a= Subject to: .
Page 163 and 164:
[Gouldson 791 [Grippo 871 [Gursoz 9
Page 165:
149 Wo1te.r 821 Wolter, J. and et a
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A System for Automated Fixture Planning with Modular Fixtures

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