A Dexterous Part-Holding Model for Handling Compliant Sheet Metal Parts

[+] Author and Article Information
H. F. Li

General Motors Corp, Warren, MI 48089

D. Ceglarek

Department of Industrial Engineering, The University of Wisconsin-Madison, Madison, WI 53706e-mail: darek@engr.wisc.edu

Jianjun Shi

Department of Industrial and Operations Engineering, The University of Michigan-Ann Arbor, Ann Arbor, MI 48109

J. Manuf. Sci. Eng 124(1), 109-118 (Mar 01, 2001) (10 pages) doi:10.1115/1.1406953 History: Received June 01, 2000; Revised March 01, 2001
Copyright © 2001 by ASME
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An example of a material handling system in a stamping line
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Commonly used vacuum cups
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The cup partly adheres to the part
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An example of a dexterous part-holding model
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Approximating the cup size in the spring model
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Flowchart for the part deformation simulation
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The sample part and the coordinate system
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Geometry mesh and target points for the sample part
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Simulation for x=200 mm and d=20 mm
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Simulation for x=200 mm and d=50 mm
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Simulation for x=400 mm and d=20 mm
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Experimental setup and the test sensor
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Comparison of the simulation data with the experiment data
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Rigid point models comparison for holding layout position at 200 mm
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Rigid point model comparison for holding layout position at 400 mm
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Desired part deformation contour
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The optimal end effector locations



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