Computer-Assisted Gripper and Fixture Customization
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Abstract |
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In support of rapid-response manufacturing, we propose a new technique for automated design and fabrication of fixture and gripper tooling for mechanical assembly. Our technique utilizes geometric computations on CAD part descriptions to derive form and force closure tooling. In addition, we invoke rapid prototyping technology to fabricate the computed tooling directly from the derived CAD descriptions. This paper introduces the concepts of our approach to automatic tooling generation, illustrates early results, and surveys the additional work to be done to further exploit the technique. |
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Keywords: Grippers, fixtures, rapid prototyping, agile manufacturing, robotic manipulation |
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