Orienting Toleranced Polygonal Parts

Orienting Toleranced Polygonal Parts Orienting Toleranced Polygonal Parts

Parts manufactured to tolerances have variations in shape. Most previous work in robotic manipulation assumes that parts do not have shape variations. Orienting devices such as bowl feeders often fail due to variations in part shape. We study the effects of uncertainty in part shape on orienting to develop systems that can orient toleranced polygonal parts. We present a tolerance model in which...

Orienting Toleranced Polygonal Parts

Parts manufactured to tolerances have variations in shape. Most previous work in robotic manipulation assumes that parts do not have shape variations. Orienting devices such as bowl feeders often fail due to variations in part shape. We study the effects of uncertainty in part shape on orienting to develop systems that can orient toleranced polygonal parts. We present a tolerance model in which...

A General Theory for Positioning and Orienting 2D Polygonal or Curved Parts using Intelligent Motion Surfaces

1 This work is sponsored by DARPA under Fort Huachuca Contract No. DABT-63-92-C-0052. Abstract: In this paper we present novel algorithms to compute quasi-static and dynamic equilibrium positions and orientations (if any) of 2D polygonal or curved parts placed on general shaped 2D force field configurations. Instead of following the current limited approaches of trying to reduce the problem to ...

Relative Position Computation for Assembly Planning With Planar Toleranced Parts

This paper presents a new framework for worst-case toleranced assembly planning of planar mechanical systems. Unlike most assembly planners, which produce plans for nominal parts, our framework incorporates the inherent imprecision of the manufacturing process, which introduces uncertainties in the shape and size of the assembly parts. It accounts for the uncertainty of the relative part placem...

Orienting Polyhedral Parts by Pushing