Title :
A full-kinematic model of fixtures for precision locating applications
Author :
Wang, Michael Y.
Author_Institution :
Dept. of Mech. Eng., Maryland Univ., College Park, MD, USA
Abstract :
The conventional point-kinematic model of fixtures has only treated point geometry of the contacts between locators and workpiece. However, this model, which ignores the underlying surface properties of the locators-plus-workpiece system, is inherently incapable of capturing the effects of the geometric properties important to accurate positioning of the workpiece. In this paper, we present a fixture model based on the full kinematics of locator-workpiece contact. This model incorporates a "virtual" kinematic chain with meshing parameters of contact kinematics. It is shown that the conditions of deterministic localization are related to surface properties of both the workpiece and the locators, including the surface curvature, torsion and scale factors, as opposed to the conventional point-kinematic model. The full-kinematic model developed here has a strong implication for designing fixtures with high locating precision requirements
Keywords :
industrial control; kinematics; materials handling; conventional point-kinematic model; full-kinematic fixture model; locator-workpiece contact kinematics; meshing parameters; precision location applications; scale factors; surface curvature; surface properties; torsion; virtual kinematic chain; workpiece positioning; Automotive components; Computational geometry; Cooling; Drilling; Fixtures; Intelligent robots; Kinematics; Machining; Solid modeling; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976321
