Design of Tactile Fixtures for Robotics and Manufacturing

[+] Author and Article Information
W. W. Nederbragt, B. Ravani

Department of Mechanical Engineering, University of California, Davis, Davis, California 95616

J. Mech. Des 119(2), 204-211 (Jun 01, 1997) (8 pages) doi:10.1115/1.2826237 History: Received January 01, 1996; Revised February 01, 1997; Online December 11, 2007


This paper presents a theoretical framework for the design of tactile sensing fixtures for robotics and manufacturing. The framework presented uses group theory to analyze the symmetry of contact conditions on a fixture to evaluate a fixture design for referencing the sensor frame with respect to the fixture frame. Mechanical fixtures consisting of planar, spherical, and cylindrical surfaces are studied for their usefulness as part of referencing fixtures. The theory developed is used in guiding the design of a simple yet novel touch sensing fixture for part referencing and calibration in manufacturing and robotics.

Copyright © 1997 by The American Society of Mechanical Engineers
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