Automated Fixture Design using an Imprint-based Design Approach & Optimisation in Simulation

Lukas Christoffer Malte Wiuf Schwartz*, Lars-Peter Ellekilde, Norbert Krüger

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

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Abstract

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.
Original languageEnglish
JournalInternational Journal of Robotic Computing
Volume1
Issue number1
Pages (from-to)40-54
ISSN2641-9521
DOIs
Publication statusPublished - Sep 2019

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