Title :
No Jamming Condition for Force Planning in Fixture Inserting
Author :
Liu, Tong ; Wang, Michael Yu
Author_Institution :
Dept. of Autom. & Comput.-Aided Eng., Chinese Univ. of Hong Kong
Abstract :
This paper focuses on an issue, the jamming condition of rigid bodies under Coulomb´s friction law, involved in inserting a workpiece into the fixture system, where we assume point contacts between surfaces of bodies. The results of the paper gives a sufficient and necessary condition for the jamming criteria, which do not rely on the linearization of the friction cone and treats the two dimensional problem and three dimensional problem in a unified way
Keywords :
assembly planning; fixtures; force control; friction; robotic assembly; Coulomb friction; fixture inserting; fixture system; force planning; jamming criteria; Fixtures; Friction; Jamming; Kinematics; Kinetic theory; Manufacturing automation; Orbital robotics; Robotic assembly; Robotics and automation; Surface treatment; Contacts; Fixture; Inserting; Jamming;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521897
