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1、ModularFixtureDesignforGeneralizedPolyhedrayAaronS.WallackJohnF.Cannyawallack@cognex.comjfc@cs.berkeley.eduComputerScienceDivision,UniversityofCalifornia,BerkeleyAbstractreview[3]impliedthatmostoftheresearchinauto-mated xturingsystemsarebasedonexpertsystems.T
2、heterm xturingreferstothetaskofimmobilizingGandhiandThompson[2]attemptedtobridgethegapaworkpieceforthepurposeofperformingoperationsbetweengeometricalanalysisandexpertsystemsviasuchasassemblyandmachining.Assuch, xturingisatechniqueforanalyzingforceclosure(theab
3、ilitytooffundamentalimportancetoindustrialmanufactur-resistarbitraryexternalforcesandtorques)withintheing.Fixturescaneitherbefabricatedfromscratch,orframeworkofanexpertsystem.Theroboticscommu-assembledfromatoolkitofmodularcomponents,thenityhasalsomadesigni can
4、tcontributionsintermslatterapproachistermedmodular xturing.Inthispa-ofgrasping,ecientlyenumeratingusefulgrasps,andper,wepresentacompletealgorithmtoautomaticallygraspqualitymetrics;thereaderisreferredto[4,8,10]design xturesforthe xturevisetoolkit.Thealgo-foran
5、overviewoftheseresults.Mishra's[5]analysisrithmenumerates xturecon gurations,consistingofofthetoeclamptoolkitsparkedrenewedinterestinpegpositions,workpiecepose,andjawseparation,forthe eldofrobotics.agivengeneralizedpolyhedralworkpiece.Ageneral-Recently,Wallack
6、andCanny[10,11],Brostandizedpolyhedralprismaticworkpieceisde nedtohaveaGoldberg[1],andOvermarsetal.[6]proposedmodu-generalizedpolygonalsilhouette,withaboundarycom-lar xturingtoolkitswhichincorporatedpeg/holede-posedoflinearedgesandcirculararcs.vices( xturetabl
7、es)andasingledegreeoffreedom,aswellascomplete xturedesignalgorithms.Wallack1IntroductionandCanny's[10,11]andBrostandGoldberg's[1]algorithmssharemanysimilarities:bothalgorithmsThetaskofimmobilizingaworkpieceviamechani-handlepolygonalmodels,bothrelyongenerateand
8、caldevices,commonlycalled xturingorworkholding,testtechniques.WallackandCanny's xtureviseisoffundamentalimportancetoindustrialmanufac-toolkit(Figure1)isbasedontheBlackandDeckerturi
