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A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems

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dc.contributor.advisor Martin L. Culpepper. en_US
dc.contributor.author Araque, Carlos A. (Carlos Alberto), 1978- en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.date.accessioned 2005-08-24T20:37:56Z
dc.date.available 2005-08-24T20:37:56Z
dc.date.copyright 2002 en_US
dc.date.issued 2002 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/8135
dc.description Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002. en_US
dc.description Includes bibliographical references (p. 83-84). en_US
dc.description.abstract The means to achieve micron level accuracy and repeatability with detachable fixtures will be an enabling technology in future manufacturing processes. Given the many sources of time variable errors in fixture alignment (i.e. thermal, load, vibration), the integration of actuators and sensors within fixtures will be necessary to achieve real-time error compensation. This thesis examines the fundamental issues and design challenges associated with implementing a first prototype of a mechanized fixture. The device utilizes adjustable parallel kinematics (to achieve accuracy) and the interface of a three-groove kinematic coupling (to achieve repeatability). The result is a new fixture technology, dubbed the Accurate and Repeatable Kinematic Coupling (ARKC). The ARKC is equipped to accept six independent actuation inputs that make it possible to obtain decoupled small-motion adjustment in six axes. The kinematic model for the adjustable position control of the coupling is derived. The main contribution of this thesis is the experimental verification of the model. Experiments show less than 13% systematic error between the adjustable kinematic theory and experimental data. Although not a subject of this work, the systematic error can be mapped and removed from the coupling performance via software. The result will be a coupling with accuracy and repeatability of approximately 5 microns. Implementation of the device in flexible manufacturing systems is discussed. A case study that examines the performance of the ARKC in a next generation manufacturing process is included. Theoretical results from the case study show that the ARKC can be used to provide the precision alignment and positioning requirements of next generation semiconductor test equipment. en_US
dc.description.statementofresponsibility by Carlos A. Araque. en_US
dc.format.extent 89 p. en_US
dc.format.extent 5834222 bytes
dc.format.extent 5833982 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.rights.uri http://dspace.mit.edu/handle/1721.1/7582
dc.subject Mechanical Engineering. en_US
dc.title A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems en_US
dc.type Thesis en_US
dc.description.degree S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 51805259 en_US


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