A lack of fixturing flexibility and of high speed handling of non-rigid parts are two important problems in automotive sheet metal assembly operations. This paper describes the development of two unique grippers for flexible fixturing of automotive sheet metal parts, and of two methods for the vibration control needed for high speed handling of non-rigid parts. Each gripper is designed to execute a 3-D fixturing strategy which does not require accurate initial part placement, and provides a large number of valid fixturing solutions. Both grippers are tested on several automotive parts. With the first design, the average standard deviation of the parts' location before fixturing of 0.5 mm was reduced to 0.01 mm after fixturing. The methods of vibration control may be used with most of the industrial robots used for part handling. At a speed of 1 m/s the LEC method reduced the vibration amplitude by 33percent after four learning trials. At 0.5 m/s the ICS method reduced the vibration amplitude by 60percent and the settling time by 67percent.
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机译：缺乏夹具的灵活性以及对非刚性零件的高速处理是汽车钣金装配操作中的两个重要问题。本文描述了两种用于灵活固定汽车钣金零件的独特夹具，以及两种用于高速处理非刚性零件所需的振动控制方法的开发。每个夹具均设计为执行3-D夹具策略，该策略不需要精确的初始零件放置，并提供了大量有效的夹具解决方案。两种夹具均已在多个汽车零件上进行了测试。对于第一种设计，固定前零件位置的平均标准偏差为0.5 mm，而固定后为0.01 mm。振动控制方法可与大多数用于零件处理的工业机器人一起使用。在进行了四次学习试验后，LEC方法以1 m / s的速度将振动幅度降低了33％。 ICS方法以0.5 m / s的速度将振动幅度降低60％，将建立时间降低67％。
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