This paper proposes an adaptive pin-array fixture. The key idea of this research is to use the shape-memorable mechanism of pin array to fix multiple different shaped parts with common pin configuration. The clamping area consists of a matrix of passively slid-able pins that conform themselves to the contour of the target object. Vertical motion of the pins enables the fixture to encase the profile of the object. The shape memorable mechanism is realized by the combination of the rubber bush and fixing mechanism of a pin. Several physical peg-in-hole tasks is conducted to verify the feasibility of the fixture.

中文翻译：

---

形状记忆自适应引脚阵列夹具的研制

本文提出了一种自适应引脚阵列夹具。本研究的核心思想是利用引脚阵列的形状记忆机制，将多个不同形状的零件固定在共同的引脚配置上。夹紧区域由一组可被动滑动的销组成，这些销与目标物体的轮廓相吻合。销的垂直运动使夹具能够包裹物体的轮廓。形状记忆机构是通过橡胶衬套和销钉固定机构的结合来实现的。进行了几个物理钉孔任务以验证夹具的可行性。