A stability tool for use within TELEGRIP

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Description

During the assembly of a product, it is vital that the partially-completed assembly be stable. To guarantee this, one must ensure that contacts among the parts and the fixtures are sufficient to stabilize the assembly. Thus, it would be desirable to have an efficient method for testing an assembly stability, and, if this is not possible, generating a set of additional fixture contact points, known as fixels, that will stabilize it. One can apply this method to the situation of safe handling of special nuclear material (SNM). To have these functionalities should help improve the safety and enhance the performance ... continued below

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19 p.

Creation Information

Son, W. H. & Trinkle, J. C. December 1, 1998.

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Description

During the assembly of a product, it is vital that the partially-completed assembly be stable. To guarantee this, one must ensure that contacts among the parts and the fixtures are sufficient to stabilize the assembly. Thus, it would be desirable to have an efficient method for testing an assembly stability, and, if this is not possible, generating a set of additional fixture contact points, known as fixels, that will stabilize it. One can apply this method to the situation of safe handling of special nuclear material (SNM). To have these functionalities should help improve the safety and enhance the performance of special nuclear material (SNM) handling and storage operations, since some methods are needed for gripping objects in a stable manner. Also, one may need a way to find a pit-holding fixture inserted into containers. In this paper, the authors present a stability tool, which they call Stab Tool, which was developed to test the stability of objects grasped by robotic hands, objects placed in fixtures, or sets of objects piled randomly on top of one another. Stab Tool runs on top of a commercial software package, TELEGRIP, which is used for geometry modeling and motion creation. The successful development of the stability depends strongly on TELEGRIP`s ability to compute the distances between pairs of three-dimensional bodies in the simulated environment. The interbody distance computation tool takes advantage of the polyhedral representations of bodies used by TELEGRIP and of linear programming techniques to yield an efficient algorithm.

Physical Description

19 p.

Notes

INIS; OSTI as DE99001040

Source

  • Other Information: PBD: Dec 1998

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  • Other: DE99001040
  • Report No.: ANRCP--1998-19
  • Grant Number: FC04-95AL85832
  • DOI: 10.2172/290869 | External Link
  • Office of Scientific & Technical Information Report Number: 290869
  • Archival Resource Key: ark:/67531/metadc678434

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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Creation Date

  • December 1, 1998

Added to The UNT Digital Library

  • July 25, 2015, 2:20 a.m.

Description Last Updated

  • Jan. 22, 2018, 12:26 p.m.

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Son, W. H. & Trinkle, J. C. A stability tool for use within TELEGRIP, report, December 1, 1998; [Amarillo,] Texas. (digital.library.unt.edu/ark:/67531/metadc678434/: accessed September 20, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.