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ROMANSY 11 pp 365-372 | Cite as

Type Synthesis of Contact Sensing Elements for Robotic Fixturing

  • W. W. Nederbragt
  • B. Ravani
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)

Abstract

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.

Keywords

Planar Surface Spherical Surface Type Synthesis Revolute Joint Spherical Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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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
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    Hervé, J., “Analyse Structurelle des Mécanismes par Groupe des Déplacements,” Mechanism and Machine Theory, Vol. 13, pp. 437–450, 1978.CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • W. W. Nederbragt
    • 1
  • B. Ravani
    • 1
  1. 1.University of California-DavisDavisUSA

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