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Fixturing faceted parts with seven modular struts

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3 Author(s)
R. Wagner ; Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA ; Yen Zhuang ; K. Goldberg

Building on results in modular fixturing of 2D parts, this paper describes a new approach to fixturing 3D parts for assembly or inspection using a particularly simple set of modular elements. The approach uses seven modular struts mounted on a regular lattice of sockets embedded in a rectangular frame. Each strut extends normal to a contact surface on the part so that only compressive forces are required to hold the part in form closure: no bending moments are exerted on the struts and the fixture does not rely on contact friction. We give an algorithm for synthesizing such fixtures. Given as input a polygonal part and desired 3D pose, the algorithm enumerates all fixtures that will hold the part in form closure and rank them based on a quality metric. We also describe a fast test for form closure in 3D

Published in:

Assembly and Task Planning, 1995. Proceedings., IEEE International Symposium on

Date of Conference:

10-11 Aug 1995