Optimal placement of fixture clamps

Research output: Contribution to conferencePaperpeer-review


This paper addresses the problem of synthesizing optimal clamping schemes on three-dimensional parts with planar and cylindrical faces, with and without friction. Given a workpart with a pre-defined deterministic 3-2-1 location scheme, a set of polygonal convex regions on its faces are defined as areas of admissible clump positions. A known set of one or more external disturbing wrenches are also given. The frictionless case is considered first and a new linear program is formulated that minimizes the maximum clamping force. A transformation of the solution is presented that permits the extraction of the optimal positions of the clamps as well. Friction is introduced next, and a linear program is presented that minimizes the maximum normal clumping force. We extend the frictionless formulation to support the case of clamping contacts on cylindrical faces, resulting in a nonlinear convex formulation. Finally, we discuss a linear algebraic technique to find the lines of constant clamping force, along which the clamps can be moved while maintaining the clamping forces constant.

Original languageEnglish (US)
Number of pages6
StatePublished - 2001
Event2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como, Italy
Duration: Jul 8 2001Jul 12 2001


Other2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering


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