Workholding. Analysis and planning

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

With an increasing interest in manufacturing towards computer-assisted production in small batch sizes, researchers have begun to focus on the design, analysis and planning algorithms for workholding (also called fixturing), calibration, tool-path generation. In this paper, we focus on the problem of workholding and review how various recently developed qualitative and quantitative approaches of grasping theory can be applied to this problem mutatis mutandis. However, the problems in workholding differ from robot-hand grasping problems in two fundamental ways, namely: (1) The accuracy and ambient force (resulting from fluctuating cutting loads) requirements are rather stringent (2) The available fixtures are geometrically more specialized as compared to robot-hands. In the concluding section, we reflect on how these differences lead to further interesting and challenging questions.

Original languageEnglish (US)
Title of host publicationProc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91
PublisherPubl by IEEE
Pages53-57
Number of pages5
ISBN (Print)078030067X
StatePublished - Dec 1 1992
EventProceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91 - Osaka, Jpn
Duration: Nov 3 1991Nov 5 1991

Publication series

NameProc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91

Other

OtherProceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91
CityOsaka, Jpn
Period11/3/9111/5/91

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Mishra, B. (1992). Workholding. Analysis and planning. In Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91 (pp. 53-57). (Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91). Publ by IEEE.