A full-kinematic model of fixtures for precision locating applications

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.976321

M. Wang

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引用次数: 18

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.

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用于精密定位的夹具全运动学模型

传统的夹具点运动学模型只处理定位器与工件接触的点几何。然而，该模型忽略了定位器加工件系统的潜在表面特性，本质上无法捕捉对工件精确定位重要的几何特性的影响。在本文中，我们提出了一个基于定位器-工件接触全运动学的夹具模型。该模型采用了一个“虚拟”运动链，其啮合参数为接触运动学。结果表明，与传统的点运动学模型相反，确定性定位的条件与工件和定位器的表面特性有关，包括表面曲率、扭转和尺度因子。所建立的全运动学模型对设计定位精度要求较高的夹具具有重要的指导意义。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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