This paper proposes an adaptive pin-array fixture. The key idea of this research is to use the shape-memorable mechanism of the pin array to fix multiple different shaped parts with a 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. The 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 are conducted to verify the feasibility of the fixture.

中文翻译：

---

形状记忆自适应针阵列夹具的开发

本文提出了一种自适应引脚阵列夹具。这项研究的关键思想是使用引脚阵列的形状记忆机制来固定具有通用引脚配置的多个不同形状的零件。夹紧区域由可被动滑动的销钉矩阵组成，这些销钉自身符合目标对象的轮廓。销的垂直运动使固定装置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组合来实现的。进行了几项物理的孔内钉作业，以验证夹具的可行性。