TY - JOUR
T1 - Automated Fixture Design using an Imprint-based Design Approach & Optimisation in Simulation
AU - Wiuf Schwartz, Lukas Christoffer Malte
AU - Ellekilde, Lars-Peter
AU - Krüger, Norbert
PY - 2019/9
Y1 - 2019/9
N2 - Object aligning and holding xtures for robotic assemblytasks are important in industry in order to successfully complete anassembly. However, the designing of a xture is usually done manually which can be a long and tedious process including many iterations,even for experienced engineers. This paper presents a method to designxtures automatically for use in robotic assemblies and pick-and-placetasks. To achieve this, a new automated method to design the cut-out fora xture is introduced. The method uses a parameterized version of theobject's imprint to design the cut-out. The xtures generated using thismethod are optimized in simulations to determine their nal parametersfor a specic application. Dynamic simulations are used to evaluate eachiteration of the cut-out. Lastly, the method is applied to a use-case fromthe industry to design a xture for use in a robotic assembly task.
AB - Object aligning and holding xtures for robotic assemblytasks are important in industry in order to successfully complete anassembly. However, the designing of a xture is usually done manually which can be a long and tedious process including many iterations,even for experienced engineers. This paper presents a method to designxtures automatically for use in robotic assemblies and pick-and-placetasks. To achieve this, a new automated method to design the cut-out fora xture is introduced. The method uses a parameterized version of theobject's imprint to design the cut-out. The xtures generated using thismethod are optimized in simulations to determine their nal parametersfor a specic application. Dynamic simulations are used to evaluate eachiteration of the cut-out. Lastly, the method is applied to a use-case fromthe industry to design a xture for use in a robotic assembly task.
U2 - 10.35708/RC1868-126250
DO - 10.35708/RC1868-126250
M3 - Journal article
SN - 2641-9521
VL - 1
SP - 40
EP - 54
JO - International Journal of Robotic Computing
JF - International Journal of Robotic Computing
IS - 1
ER -