ABSTRACT
The design of mechanisms for orienting and locating parts is of paramount importance in flexible automa tion and robotics. In some cases, the problem is that of reorienting a large number of parts coming in ran dom positions and orientations, to a given posture within assembly tolerances. For such problems, indus try most often uses ad hoc fixtures, such as vibrating part-feeders, fenced conveyor belts, etc.. The design and tuning of these devices is often time-consuming, and is only rewarding on large-size batch production. In other cases, where the typology of parts is more variate, more flexible manipulation means are prefer able. In highly-flexible automation and robotics, the design of manipulation devices has been attacked by several different approaches, such as by developing dex terous multifingered hands ([7], [12]); using “pushing” or “tilting” actions ([10], [9]); “regrasping” ([15], [6]); and “finger gaiting” ([11], [4]).
