A stability tool for use within TELEGRIP

During the assembly of a product, it is vital that the partially-completed assembly be stable. To guarantee this, one must ensure that contacts among the parts and the fixtures are sufficient to stabilize the assembly. Thus, it would be desirable to have an efficient method for testing an assembly stability, and, if this is not possible, generating a set of additional fixture contact points, known as fixels, that will stabilize it. One can apply this method to the situation of safe handling of special nuclear material (SNM). To have these functionalities should help improve the safety and enhance the performance of special nuclear material (SNM) handling and storage operations, since some methods are needed for gripping objects in a stable manner. Also, one may need a way to find a pit-holding fixture inserted into containers. In this paper, the authors present a stability tool, which they call Stab Tool, which was developed to test the stability of objects grasped by robotic hands, objects placed in fixtures, or sets of objects piled randomly on top of one another. Stab Tool runs on top of a commercial software package, TELEGRIP, which is used for geometry modeling and motion creation. The successful development of the stability depends strongly on TELEGRIP`s ability to compute the distances between pairs of three-dimensional bodies in the simulated environment. The interbody distance computation tool takes advantage of the polyhedral representations of bodies used by TELEGRIP and of linear programming techniques to yield an efficient algorithm