The distinguishing property of Reconfigurable Manufacturing Systems (RMS) is that they can rapidly and efficiently adapt to new production requirements, both in terms of their capacity and functionalities. For this type of systems to achieve the desired efficiency, it should be possible to easily and quickly setup and reconfigure all of their components. This includes fixturing jigs that are used to hold workpieces firmly in place to enable a robot to carry out the desired production processes.

In this paper, we formulate a constrained nonlinear optimization problem that must be solved to determine an optimal layout of reconfigurable fixtures for a given set of workpieces. The optimization problem takes into account the kinematic limitations of the fixtures, which are built in shape of Sterwart platforms, and the characteristics of the workpieces that need to be fastened into the fixturing system. Experimental results are presented that demonstrate that the automatically computed fixturing system layouts satisfy different constraints typically imposed in production environments.

可重构制造系统 (RMS) 的显着特性是它们可以快速有效地适应新的生产要求，无论是在容量还是功能方面。为了使此类系统达到所需的效率，应该可以轻松快速地设置和重新配置其所有组件。这包括用于将工件牢固固定到位的夹具，使机器人能够执行所需的生产过程。

在本文中，我们制定了一个受约束的非线性优化问题，必须解决该问题才能为给定的一组工件确定可重构夹具的最佳布局。优化问题考虑了以 Stewart 平台形状构建的夹具的运动学限制，以及需要固定到夹具系统中的工件的特性。实验结果表明自动计算的夹具系统布局满足通常在生产环境中施加的不同约束。