三维模块化夹具设计工具

Russell G. Brown, R. Brost
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引用次数: 53

摘要

模块化夹具套件是用于灵活,快速构建夹具的组件。模块化虎钳是一种平行钳口虎钳,每个钳口是一个具有精确定位孔的规则网格的模块化夹具板。为了固定零件,人们在一些孔中放置销钉,这样当虎钳关闭时,零件就能可靠地定位并完全固定。模块化虎钳概念可以很容易地适应于机器人模块化平行爪爪的设计。通过将格栅板连接到平行爪爪的每个爪上,我们可以轻松地从一套标准硬件中为各种各样的零件构建高质量的抓手。Wallack和Canny(1994)开发了一种用于规划模块化虎钳平面抓持配置的算法。我们将这项工作扩展到生产3D夹具/夹具设计工具。我们描述了几种我们添加到平面算法中的分析,包括基于力信息的三维抓握质量度量、三维几何载荷分析和抓握器间干涉分析。最后,我们描述了代码的两个应用。其中一个是Sandia的内部应用程序,而另一个则显示了我们的代码在设计敏捷装配线部分方面的潜在用途。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A 3D modular gripper design tool
Modular fixturing kits are sets of components used for flexible, rapid construction of fixtures. A modular vise is a parallel-jaw vise, each jaw of which is a modular fixture plate with a regular grid of precisely positioned holes. To fixture a part, one places pins in some of the holes so that when the vise is closed, the part is reliably located and completely constrained. The modular vise concept can be adapted easily to the design of modular parallel-jaw grippers for robots. By attaching a grid-plate to each jaw of a parallel-jaw gripper we gain the ability to easily construct high-quality grasps for a wide variety of parts from a standard set of hardware. Wallack and Canny (1994) developed an algorithm for planning planar grasp configurations for the modular vise. We expand this work to produce a 3D fixture/gripper design tool. We describe several analyses we have added to the planar algorithm, including a 3D grasp quality metric based on force information, 3D geometric loading analysis, and inter-gripper interference analysis. Finally, we describe two applications of our code. One of these is an internal application at Sandia, while the other shows a potential use of our code for designing part of an agile assembly line.
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