DESIGN OF TACTILE FIXTURES FOR ROBOTICS AND MANUFACTURING

This paper presents a theoretical framework for the design of tactile sensing fixtures for robotics and manufacturing. The framework present ed uses group, theory to analyze the symmetry of contact conditions on a fixture to evaluate a fixture design for referencing the sensor fra me with respect to the fixture frame. Mechanical fixtures consisting o f planar spherical, and cylindrical surfaces are studied for their use fulness as part of referencing fixtures. The theory developed is used in guiding the design of a simple yet novel touch sensing fixture for part referencing and calibration in manufacturing and robotics.