Workpiece force and position control for active and flexible fixtures in assembly

With strengthening focus on digitalization and flexibility, active and flexible fixtures can provide the right tools for manufacturing systems. However, fixturing solutions are often too individualized for processes and need a universal approach. Firstly, a system formulation of multiple workpieces interacting with each other is presented. Secondly, strategies for direct and indirect force control along with their characteristics have been developed. The stability of assembly of force-controlled components has been analyzed, and certain key characteristics have been presented. The position control under different signal types, including oscillatory, have been discussed. Finally, a set of experiments have been conducted for performance evaluation.

Automated summary

This study finds that active and flexible fixtures are essential for improving the efficiency of manufacturing systems, but fixturing solutions need a more universal approach. The formulation of multiple workpieces interacting with each other is proposed, along with the development of force control strategies. Performance evaluation is conducted through a series of experiments.