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After we have the locating plan and clamping surfaces, we can determine the clamping
positions automatically. The algorithm here is used to quickly generate, in general cases,
First, each locating point is projected along the opposite of its normal direction. If an
intersection exists on one of the clamping surfaces, then that intersection is selected as
one clamping point. In Figure B.1, locating point L1 is projected and has an intersection
C1
Locating Point
Clamping Point
workpiece Normal Direction
L3
Clamping Surface
L1 L2
If no surface with an opposite normal direction can be found, then the surface with
closest opposite normal direction is used instead. In Figure B.2, locating point L2 has no
opposite surface, so it is projected back to have the intersection C2, which is the
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clamping point for L2. In such case, the angle between locating and clamping point
b
b
C2
workpiece a
L3
v v
ab < 2 2
L1 L2
a
If there is a surface that satisfies the normal direction requirement, but there is no
intersection, then a virtual point is first generated. Then the virtual point is adjusted
onto the surface as the clamping point. In Figure B.3, locating point L3 is projected back
to have the virtual intersection V3, it is then adjust onto the clamping surface at position
C3. The distance d between surface edge and final position C3 is set in the algorithm and
V3
L3 workpiece
d
C3
L1 L2
a
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B.2. Clamping Points Adjustment
Users are allowed to set the number of clamping points on each surface. In cases where
the user defined number does not equal to the program generated number, clamping
points will be adjusted to match the user defined number. The adjustment is list in the
table below.
Program User
Number Defined Clamping Points Adjustment
Number
2 1 The center of the two auto generated points.
3 1 The point that its distances to the three edges are equal.
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auto generated positions
positions after modification
Note: if the clamping points are not in the accessible area, the nearest point in the
accessible area is used.
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