Abstract
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 language | English (US) |
---|---|
Pages | 314-319 |
Number of pages | 6 |
State | Published - 2001 |
Event | 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como, Italy Duration: Jul 8 2001 → Jul 12 2001 |
Other
Other | 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings |
---|---|
Country/Territory | Italy |
City | Como |
Period | 7/8/01 → 7/12/01 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Science Applications
- Electrical and Electronic Engineering