Optimal layout and reconfiguration of a fixturing system constructed from passive Stewart platforms

The distinguishing property of Reconfigurable Manufacturing Systems (RMS) is that they can rapidly and efficiently adapt to new production requirements, both in terms their capacity functionalities. For this type systems achieve the desired efficiency, it should be possible easily quickly setup reconfigure all components. This includes fixturing jigs are used hold workpieces firmly place enable a robot carry out processes. In paper, we formulate constrained nonlinear optimization problem must solved determine an optimal layout reconfigurable fixtures for given set workpieces. takes into account kinematic limitations fixtures, which built shape Sterwart platforms, characteristics need fastened system. Experimental results presented demonstrate automatically computed system layouts satisfy different constraints typically imposed environments.