Design and Analysis of Kinematic Couplings for Modular Machine ...

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Chapter 66.1 Parameter heirarchy for a canoe ball interface. 1896.2 Isometric model view of extruded locator with central hole for clamping bolt. 1966.3 End view of extruded locator in double mating vee grooves. 1966.4 Section design parameters of extruded locator. 1976.5 Non-deformed and deformed waterjet aluminum locators. 1976.6 Aluminum locator clamped between vee grooves with side datum blocks on test fixture. 1986.7 Communications architecture of a smart interface with locally-written parameters. 2006.8 Communications architecture of a smart interface or module with server storage. 2016.9 Integrated mechanical and information infrastructure for modular factory robotics. 2056.10 Model of wireless measurement tool kinematically coupled to groove plate on bodysubassembly welding fixture. 2096.11 Ball-groove interface holding tool in non-contact evaluation of flange position. 2106.12 Example wireless communication architecture between measurement unit, part, tool, andoffline computer. 21110
List of TablesChapter 22.1 Fatigue strengths of selected steel alloys [12]. 36Chapter 33.1 Representative 3-sigma values for interface error components. 643.2 Calibration options for canoe ball interface, using offset measurement feature. 663.3 Calibration options for canoe ball interface, directly measuring contact surfaces. 673.4 Error component values for parametric study with varied calibration complexity. 693.5 Canoe ball interface geometry for parametric study with varied calibration complexity. 693.6 Calibration options for three-pin interface. 80Chapter 44.1 Manipulator exchange times under varying levels of on-line calibration. 954.2 ABB IRB6400R dynamic loads at center of foot (max, min). 964.3 Initial design parameters for canoe ball couplings 1034.4 Final Specifications of prototype canoe ball coupling 1044.5 Required preloads to pin interface in cases of partial contact. 1064.6 Specifications of designed prototype quasi-kinematic couplings. 1114.7 Average tool point path repeatabilities [mm] of current ABB and new kinematic coupling basedesigns, relative to previous trials. 1204.8 Average tool point path repeatabilities [mm] of current and new designs, relative to nominalaverage of all trials. 1234.9 Error component values for canoe ball interchangeability simulation. 1294.10 Error component values for three-pin interchangeability simulation. 1334.11 Total Mechanical Accuracy (TMA) of manipulator base solutions. 138Chapter 55.1 Steady-state and transient performance index values for various metals. 1515.2 Simulated and measured end-to-end circumferential temperature differences [C]. 1745.3 Tube material optimization study results (DT = heated minus non-heated). 178Chapter 66.1 Suggested performance parameters for a standard kinematic interface. 18811
Page 1: Design and Analysis of Kinematic Co
Page 4 and 5: kinematic couplings. Most powerfull
Page 6 and 7: 6. Toward Standard, Low-Cost, Intel
Page 8 and 9: Chapter 44.1 Six-axis industrial ro
Page 13 and 14: Chapter 1Introduction1.1 Motivation
Page 15 and 16: 2. How can the deterministic nature
Page 17: Chapter 2 is an overview of the bas
Page 20 and 21: Figure 2.1: Model of three-ball/thr
Page 22 and 23: For a case study of a simple symmet
Page 24 and 25: contacting space all the way around
Page 26 and 27: 2.2 Canoe Ball CouplingsThe main ca
Page 28 and 29: strength materials) and create a so
Page 30 and 31: ⎧112 ⎛ ⎛ ⎛ --δ ⎛f n ---
Page 32 and 33: F 11 sin( α)- sin( β)0 0 0- 1 D -
Page 34 and 35: contact, and translation of the ass
Page 36 and 37: K1--2⎛3F⎝------⎞ 1= ⎛2 ⎠
Page 39 and 40: Chapter 3Interchangeability of Dete
Page 41 and 42: coordinate frame by a translation a
Page 43 and 44: in translation error normal to the
Page 45 and 46: MeasurementErrorT measerrorInterfac
Page 47 and 48: interfaces can approach their indiv
Page 49 and 50: Figure 3.5: Canoe ball mount with i
Page 51 and 52: they directly become the rows of th
Page 53 and 54: δ xcδ ycε interchange=δ zc(3.19
Page 55 and 56: 2. p Sn,1 , p Sn,2 , etc. = Relativ
Page 57 and 58: parameters are directly the points
Page 59 and 60: nominal thickness, and the magnitud
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y measy measy ballyy ballzyFigure 3
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The angular alignment of the groove
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while the couplings and measurement
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Complexity Example Calibration Proc
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Error Component [units]Valueh tol [
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0.20Tool Point Error [mm]0.150.100.
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Figure 3.14: Prototype groove base
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Figure 3.17: Interchangeability set
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0.00450.00400.0035MeasuredAfter Exc
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3.7.1 Variable DimensionsThe interc
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This model is used in the next chap
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appropriate calibration procedures
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Chapter 4Machine Case Study: Mechan
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ures empirically cause a per shift
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4.2 Current Interface Design and Ro
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4.2.2 Current Robot Calibration Pro
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ally demanded for continuous path a
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In the canoe ball case, design a pr
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unseating, reseating, and measuring
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Although dynamic tests were not run
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For the first step, the coupling lo
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Figure 4.16: Interface plates fitte
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Figure 4.18: Prototype shouldered c
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Knowing 50 N-m of torque would be a
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constraint, then applying a preload
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4.5 Prototype Repeatability TestsWi
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Two test procedures were establishe
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For the basic mounting procedure, s
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torque was more than sufficient to
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The measurements of static quasi-ki
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neighborhood) trial to the outlying
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Deviation [mm]0.200.150.100.050.00-
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Figure 4.44: Canoe ball surface aft
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4.6.1.2 ResultsTable 4.9: Error com
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the accuracy of the base interface
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interface produces perfect intercha
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0.20Tool Point Error [mm]0.180.160.
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Figure 4.49: Split groove canoe bal
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Generally, the concept of a determi
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20 C) and dirt buildup and harsh tr
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Chapter 5Instrumentation Case Study
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that many of them may be used simul
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diameter, with equilaterally triang
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Figure 5.4: Theorized constant temp
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Therefore, with the goal to minimiz
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All heat transfer relations are ref
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Angular drift of the stack was meas
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knowledge of the resistance across
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4. After these six hours of heating
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5.3.3 Results5.3.3.1 Finite Element
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Figure 5.15: Axial displacement con
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0.200.10Tilt Angle [arcsec]0.00-0.1
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superior in disturbance rejection,
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1.801.601.40Temperature [C]1.201.00
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Temperature [C]1.801.601.401.201.00
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0.2000.150Temperature [C]0.1000.050
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of heat, the temperature difference
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0.200 50 100 150 200 250 300 350 40
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Table 5.3 gives the results of the
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0.350.3One-Piece5 Segments1-9 Segme
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copper tube segments. Individual 1W
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Fixed-base parallel manipulators ca
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Chapter 6Toward Standard, Low-Cost,
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The efficiency of the standard mech
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6.1.2 Building and Using a Web-Base
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tor, offers similar design guidance
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other unit can be homogeneous with
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dcontactRcoupLtRoutRinθFigure 6.4:
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parallel arrangement of springs for
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Wireless Close Read ORDirect Entry-
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matted as XML schemas and broadcast
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PROCESS FEEDBACKSYSTEMADMINISTRATOR
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Furthermore, a fourth class of inte
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For datum point (rather than custom
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OFFLINECOMPUTERInteractive display
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Chapter 7ConclusionThis thesis soug
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Appendix AReferencesChapter 2[1] Sl
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Appendix BKinematic Coupling Design
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MLz + FLy*XL - FLx*XL];% Coupling D
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end% Computation of coupling locati
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ctthree = Rethree*sqrt((1/Rgrv3)^2+
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% New ball coordinatesxboneN = xbon
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four))^2)*sign(Abc*delthree+Abd*del
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B.2 Contact Force Calculation for T
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Rpins = 0.5;yo = 0.5;% radius offse
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f2_torquevector = mut*cross(v_fr2_c
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n3_torquevector = cross(v_cont3,v3_
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Appendix CKinematic Exchangeability
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tol_msys = 0.1; % measurement syste
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% Nominal groove normal vectorsn11
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pvr_grooves = randn(3,1).*pt_ps;pvt
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a21b = -1*sin(th2b)/sqrt(1+tan(thg)
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32gt = -cos(th3g)/sqrt(1+tan(thga3_
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% 14 = using offset measurement fea
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function [errorHTM] = errortransfor
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% of a three-pin kinematic coupling
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mag(normal1)*radii(1) + normal1(1)*
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Appendix DAppended Thermal Stabilit
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Temperature [C]0.800.700.600.500.40
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Temperature [C]0.800.700.600.500.40
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Appendix ERobot Calibration Pose Se
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