Restraint analysis of assembly work carriers

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)257-265
Number of pages9
JournalRobotics and Computer Integrated Manufacturing
Issue number4
StatePublished - Aug 1993

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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