Development of a shape-memorable adaptive pin array fixture

This paper proposes an adaptive pin-array fixture. The key idea of this research is to use the shape-memorable mechanism pin array fix multiple different shaped parts with a common configuration. clamping area consists matrix passively slid-able pins that conform themselves contour target object. vertical motion enables fixture encase profile shape memorable realized by combination rubber bush and fixing pin. Several physical peg-in-hole tasks are conducted verify feasibility