## 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) |
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Pages | 314-319 |

Number of pages | 6 |

State | Published - Jan 1 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 |
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Country | 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