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TECHNICAL PAPERS

Optimal Placement of Fixture Clamps: Maintaining Form Closure and Independent Regions of Form Closure

[+] Author and Article Information
Rodrigo A. Marin, Placid M. Ferreira

Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

J. Manuf. Sci. Eng 124(3), 676-685 (Jul 11, 2002) (10 pages) doi:10.1115/1.1471527 History: Received December 01, 2000; Revised September 01, 2001; Online July 11, 2002
Copyright © 2002 by ASME
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References

Marin, R. A., and Ferreira, P. M., “Optimal Placement of Fixture Clamps: Minimizing the Maximum Clamping Forces,” Submitted to ASME J. Manuf. Sci. Eng..
Marin,  R. A., and Ferreira,  P. M., 2001, “Kinematic Analysis and Synthesis of Deterministic 3-2-1 Locator Schemes for Machining Fixtures,” ASME J. Manuf. Sci. Eng., 123(4), pp. 708–719.
Lakshminarayana, K., 1978, “Mechanics of Form Closure,” ASME Technical Paper 78-DET-32.
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Ponce, J., Sullivan, S., Boissonat, J-D., and Merlet, J-P. 1993, “On Characterizing and Computing Three- and Four-Finger Force-Closure Grasps of Polyhedral Objects,” Proceedings IEEE International Conference of Robotics and Automation, pp. 821–827.
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Figures

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Dependent regions of form closure for two clamps
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(a) Optimal clamping scheme without form closure (b) optimal clamping scheme with form closure
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Basic wrenches on convex cylindrical face
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Dependent regions of form closure on a cylindrical face
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(a) Optimal clamping scheme with a cylindrical face and without form closure (b) optimal clamping scheme with a cylindrical face and with form closure
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Hypercube inside polyhedral convex cone
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Independent regions of form closure
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Magnification of independent regions of form closure
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Independent regions of form closure on a cylindrical face

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