Type Synthesis of Contact Sensing Elements for Robotic Fixturing
This paper uses group theory for type synthesis or enumeration of contacts between geometric elements necessary in the design of tactile sensing mechanical fixtures for robotic applications. Although the scope of the paper is limited to geometric contacts involving points, planes, and spherical surfaces, the techniques developed are general and can be applied to other geometric features and non tactile sensing elements used in robotic referencing and calibration.
KeywordsPlanar Surface Spherical Surface Type Synthesis Revolute Joint Spherical Joint
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- Nederbragt, W. W., and Ravani, “Design of Tactile Fixtures for Robotics and Manufacturing,” Proceeding of ASME Mechanisms Conference, Irvine, CA August 1996.Google Scholar