A 3-D modular fixture with enhanced localization accuracy and immobilization capability

摘要

Modular fixtures are distinguished for their high flexibility. Previous researches focused on 2-D objects or 3-D objects with regular geometry. This paper introduces our systematic study of 3-D modular fixtures, particularly for complex objects. For the sake of both function and simplicity, three baseplates are arranged equilaterally. One baseplate is fixed horizontally, on which three fixels are installed to support the object. The other baseplates are moveable and at least one fixel is set on either of them. Totally, seven fixels are adopted. Efficient algorithms are presented for computing optimal fixel locations for the given object pose regarding localization accuracy and immobilization capability. On account of the manufacturing errors, measuring and adjusting techniques are developed to improve the localization accuracy. Case studies are investigated to illustrate applications. Experiments are performed for verifying the principles, including the well-known theoretical proposition that seven fixels are necessary and sufficient for fixturing a 3-D object of nonrevolutionary surface.