Restraint analysis of assembly work carriers

Work carrier design is critical to the performance and economic feasibility of automatic assembly systems. Unless parts are securely held throughout transport, insertion, and fastening operations, precision assembly is impossible to achieve. This paper presents analytical techniques for determining whether carrier locators provide sufficient kinematic restraint. It presents techniques for determining whether carrier clamps and locators have the potential to resist arbitrary external forces. Finally, it presents a model for determining the minimum clamp actuator intensities necessary to restrain parts throughout transport and assembly.