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Alexander H. Slocum. Willoughby, Patrick (Patrick John), 1978- Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering 2005-05-19T14:38:06Z 2005-05-19T14:38:06Z 2002 2002 http://hdl.handle.net/1721.1/16799 50474132 Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002. Includes bibliographical references (p. 85-86). This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. 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. by Patrick Willoughby. S.M. 116 p. 4212909 bytes 4211903 bytes application/pdf application/pdf eng Massachusetts Institute of Technology 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. http://dspace.mit.edu/handle/1721.1/7582 Mechanical Engineering. Kinematic alignment of precision robotic elements in factory environments Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="20edcc41-43f7-4750-9be7-ce9dc717aa28"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>Kinematic alignment of precision robotic elements in factory environments</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2002</PublicationDate> <Authors> <Author> <DisplayName>Willoughby, Patrick (Patrick John), 1978-</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Mechanical Engineering.</Keyword> <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.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>