On Planning Immobilizing Fixtures for Three-Dimensional Polyhedral Parts.

J. Ponce.

Proc. IEEE Int. Conf Robotics and Automation, 1996.


We propose a simple three-dimensional modular fixturing device and present an algorithm for enumerating all of the immobilizing fixtures of a polyhedral object that can be achieved with this device and four frictionless contacts. Our approach is based on the second-order mobility theory of Rimon and Burdick.