Qualitative analysis and quantitative evaluation of fixturing

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

38 Scopus Citations
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Author(s)

  • Cai-Hua Xiong
  • You-Fu Li
  • Y. Kevin Rong
  • You-Lun Xiong

Detail(s)

Original languageEnglish
Pages (from-to)335-342
Journal / PublicationRobotics and Computer-Integrated Manufacturing
Volume18
Issue number5-6
Publication statusPublished - Oct 2002

Abstract

Form-closure is considered as a purely geometric property of a set of unilateral contact constraints such as those applied on a workpiece by a mechanical fixture. This paper provided qualitative analysis of form-closure fixturing. The necessary and sufficient condition for form-closure fixturing is derived. Some fundamental problems related to form-closure are solved such as minimum number of frictionless contact points and the way to arrange them to achieve form-closure. On the basis of qualitative analysis, the quantitative evaluation of form-closure is investigated. To assess quantitatively the form-closure fixturing, two quantitative indices, one to minimize the sum of all normal contact forces and the other to minimize the maximum normal contact force, are presented. Finally, the given example verifies the analysis method and evaluating indices. © 2002 Published by Elsevier Science Ltd.

Research Area(s)

  • Force-closure, Form-closure, Grasping/fixturing, Nonlinear programming, Twist, Wrench

Citation Format(s)

Qualitative analysis and quantitative evaluation of fixturing. / Xiong, Cai-Hua; Li, You-Fu; Kevin Rong, Y. et al.

In: Robotics and Computer-Integrated Manufacturing, Vol. 18, No. 5-6, 10.2002, p. 335-342.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review