DocumentCode :
3326684
Title :
Flexible fixturing system design based on a family of novel parallel robots
Author :
Yu, Hongjian ; Li, Bing ; Yang, Xiaojun ; Hu, Hong
Author_Institution :
Dept. of Mech. Eng. & Autom., Harbin Inst. of Technol., Harbin
fYear :
2009
fDate :
22-25 Feb. 2009
Firstpage :
1304
Lastpage :
1309
Abstract :
Flexibility of the assembly system is crucial to the rapidly changing market, for that a family of products fabrication need to be implemented on a single production line. This paper presents a novel flexible fixturing system for sheet metal part assembly, the system is composed of reconfigurable fixtures use parallel robots as programmable fixture elements so that they can be reprogrammed for different parts. According to the fixturing requirement a work of synthesis and derivation of parallel robot configuration is conducted based on screw theory and Lie group. And a novel class of parallel fixture robots composed of a family of RUPU kinematic chains (KCs) and their derived configurations, with 3Flexibility of the assembly system is crucial to the rapidly changing market, for that a family of products fabrication need to be implemented on a single production line. This paper presents a novel flexible fixturing system for sheet metal part assembly, the system is composed of reconfigurable fixtures use parallel robots as programmable fixture elements so that they can be reprogrammed for different parts. According to the fixturing requirement a work of synthesis and derivation of parallel robot configuration is conducted based on screw theory and Lie group. And a novel class of parallel fixture robots composed of a family of RUPU kinematic chains (KCs) and their derived configurations, with 3~6 Degrees-of-Freedom (DoF), are proposed. Finally an application with ldquo4-2-1rdquo fixturing scheme is exhibited, the kinematic and constraint features are modelled by screw theory, and a screw optimum layout scheme is presented.
Keywords :
Lie groups; assembling; design engineering; fixtures; industrial robots; robot kinematics; sheet metal processing; Lie group; RUPU kinematic chains; flexible fixturing system design; parallel fixture robots; parallel robots; programmable fixture elements; reconfigurable fixtures; screw theory; sheet metal part assembly; Assembly systems; Automobile manufacture; Clamps; Fasteners; Fixtures; Kinematics; Manipulators; Parallel robots; Robotic assembly; Robotics and automation; Flexible fixturing system; Lie group; Parallel robot; Reconfigurable fixture; Screw theory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
Type :
conf
DOI :
10.1109/ROBIO.2009.4913188
Filename :
4913188
Link To Document :
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