On the fixturing of polyhedral workpieces under frictional contact models

Most analyses in fixture designs are conducted for prismatic workpieces based on the assumption that the contacts between a workpiece and its surrounding fixels are frictionless. To improve on the existing analyses, the goal of this paper is to study the fixturing of polyhedral workpieces under frictional point contact and soft-finger contact models. Geometries of stable fixtures are investigated based on the mechanics of these contact models.