Impulse-based simulation of rigid bodies
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Stable pushing: mechanics, controllability, and planning
International Journal of Robotics Research
| Hi-index | 0.00 |
Precise machining of bearing rings is integral to finished bearing assembly quality. The output accuracy of centre-based machining systems relates directly to the precision of part centring before machining. Traditional tooling is subject to wear, dimensional inaccuracy and human error. A flexible tooling system for initial part centring is proposed based on a single measurement system and actuator. In this system, the part is rotated and measured to identify centre of geometry offset from centre of rotation, then moved by a series of pushes to align the centres. The actuation algorithm is self-modifying based on residual error. This tooling control architecture is based on a real-time version of LabVIEW and employs only a single fixed pusher tip. This enables the system to be readily adaptable to a range of part sizes with only internal variable changes. Such a flexible tooling system can be readily integrated into existing manufacturing equipment.