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Kinematic alignment of precision robotic elements in factory environments

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dc.contributor.advisor Alexander H. Slocum. en_US Willoughby, Patrick (Patrick John), 1978- en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US 2005-05-19T14:38:06Z 2005-05-19T14:38:06Z 2002 en_US 2002 en_US
dc.description Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002. en_US
dc.description Includes bibliographical references (p. 85-86). en_US
dc.description This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. en_US
dc.description.abstract In the measurement and instrumentation fields, kinematic couplings have been widely used to create precise and repeatable interfaces on a variety of devices. However, these devices have been limited to low load and clean environments such as in semiconductor manufacturing facilities. While traditional factory environments present less ideal conditions for the implementation of kinematic couplings, the benefits of more repeatable, deterministic interfaces is becoming more necessary as tolerances for products continue to become more stringent. In this thesis, general exact constraint and kinematic coupling design theory is discussed with specific application for use in industrial environments. Factors such as installation and cleanliness are discussed along with traditional design parameters such as Hertzian contact stress and preload. To test out the application of kinematic couplings to detrimental environments, two separate case studies were performed. The first case study consists of a small scale metrology device used to calibrate the home position of the ABB 6400R robot. In this application, a low-load coupling is designed for a less than ideal environment. The second case study applies kinematic coupling theory to the medium scale, high load wrist interface on the same robot. In the latter, two forms of couplings were compared, including the classic ball and groove coupling as a baseline and the three pin coupling as a new, cheap solution. Testing of prototypes of each concept shows potential for inclusion of this technology in future robot models. en_US
dc.description.statementofresponsibility by Patrick Willoughby. en_US
dc.format.extent 116 p. en_US
dc.format.extent 4212909 bytes
dc.format.extent 4211903 bytes
dc.format.mimetype application/pdf
dc.format.mimetype application/pdf
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.subject Mechanical Engineering. en_US
dc.title Kinematic alignment of precision robotic elements in factory environments en_US
dc.type Thesis en_US S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 50474132 en_US

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