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

More documents

Recommendations

Info

kinematic couplings. Most powerfully, kinematic couplings can be envisioned as an idealhandshake between precision mechanics and information technology. At the most basiclevel, encoding of interface calibration data on a wireless tag can initiate communicationbetween the interface and a calibration computer when the interface is in proximity to themachine. A conceptual framework for further thinking in convergence of quick-changeinterfaces and thin-client information interfaces to build low-cost, intelligent, flexible,automation processes, is given.Thesis Supervisor: Alexander H. SlocumTitle: Professor, Department of Mechanical Engineering
Table of Contents1. Introduction 131.1 Motivation 131.2 Deterministic Systems 151.3 Thesis Outline 162. Kinematic Coupling Design 192.1 Traditional Kinematic Couplings and Fundamental Design Theory 192.2 Canoe Ball Couplings 262.3 Quasi-Kinematic Couplings 272.4 Three-Pin In-Plane Coupling 302.5 Fatigue Life Considerations 352.6 Interface Packaging and Tightening Torque Specification 363. Interchangeability of Deterministic Kinematic Interfaces 393.1 Repeatability vs. Interchangeability 393.2 Global Error Model of a Kinematic Coupling Interface 403.3 Kinematic Coupling Measurement and Calibration 473.4 Applied Modeling of Error Components 573.5 Parametric Relationship of Calibration Detail vs. Mating Accuracy 643.6 Bench-Level Interchangeability Model 723.7 Interchangeability Model of Three-Pin Interface 783.8 A New, Interface-Driven Machine Module Calibration Process 813.9 Conclusions and Future Work Plans 834. Machine Case Study: Mechanical Performance of a Quick-ChangeIndustrial Robot Factory Interface 874.1 Background and Problem Definition 874.2 Current Interface Design and Robot Installation Procedure 914.3 Customer Attitudes Towards Interface-Based Modularity 944.4 Quick-Change Interface: Applied Kinematic Coupling Design Process 964.5 Prototype Repeatability Tests 1134.6 Factory Interface Interchangeability Simulations 1284.7 Conceptual Extension to Four-Point Mounting 1364.8 Improvements to Robot Accuracy 1374.9 Caveats and Needs for Future Work 1405. Instrumentation Case Study: Thermal Performance of a ModularStructure for a High-Precision Microscope 1435.1 Overview of the High Precision Microscope Project 1435.2 Design and Theoretical Basis of the Modular Structure 1455.3 Thermal Stability Evaluation 1535.4 Future Work and Conclusions 1845
Page 1: Design and Analysis of Kinematic Co
Page 6 and 7: 6. Toward Standard, Low-Cost, Intel
Page 8 and 9: Chapter 44.1 Six-axis industrial ro
Page 10 and 11: Chapter 66.1 Parameter heirarchy fo
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
Page 61 and 62:
y measy measy ballyy ballzyFigure 3
Page 63 and 64:
The angular alignment of the groove
Page 65 and 66:
while the couplings and measurement
Page 67 and 68:
Complexity Example Calibration Proc
Page 69 and 70:
Error Component [units]Valueh tol [
Page 71 and 72:
0.20Tool Point Error [mm]0.150.100.
Page 73 and 74:
Figure 3.14: Prototype groove base
Page 75 and 76:
Figure 3.17: Interchangeability set
Page 77 and 78:
0.00450.00400.0035MeasuredAfter Exc
Page 79 and 80:
3.7.1 Variable DimensionsThe interc
Page 81 and 82:
This model is used in the next chap
Page 83 and 84:
appropriate calibration procedures
Page 87 and 88:
Chapter 4Machine Case Study: Mechan
Page 89 and 90:
ures empirically cause a per shift
Page 91 and 92:
4.2 Current Interface Design and Ro
Page 93 and 94:
4.2.2 Current Robot Calibration Pro
Page 95 and 96:
ally demanded for continuous path a
Page 97 and 98:
In the canoe ball case, design a pr
Page 99 and 100:
unseating, reseating, and measuring
Page 101 and 102:
Although dynamic tests were not run
Page 103 and 104:
For the first step, the coupling lo
Page 105 and 106:
Figure 4.16: Interface plates fitte
Page 107 and 108:
Figure 4.18: Prototype shouldered c
Page 109 and 110:
Knowing 50 N-m of torque would be a
Page 111 and 112:
constraint, then applying a preload
Page 113 and 114:
4.5 Prototype Repeatability TestsWi
Page 115 and 116:
Two test procedures were establishe
Page 117 and 118:
For the basic mounting procedure, s
Page 119 and 120:
torque was more than sufficient to
Page 121 and 122:
The measurements of static quasi-ki
Page 123 and 124:
neighborhood) trial to the outlying
Page 125 and 126:
Deviation [mm]0.200.150.100.050.00-
Page 127 and 128:
Figure 4.44: Canoe ball surface aft
Page 129 and 130:
4.6.1.2 ResultsTable 4.9: Error com
Page 131 and 132:
the accuracy of the base interface
Page 133 and 134:
interface produces perfect intercha
Page 135 and 136:
0.20Tool Point Error [mm]0.180.160.
Page 137 and 138:
Figure 4.49: Split groove canoe bal
Page 139 and 140:
Generally, the concept of a determi
Page 141 and 142:
20 C) and dirt buildup and harsh tr
Page 143 and 144:
Chapter 5Instrumentation Case Study
Page 145 and 146:
that many of them may be used simul
Page 147 and 148:
diameter, with equilaterally triang
Page 149 and 150:
Figure 5.4: Theorized constant temp
Page 151 and 152:
Therefore, with the goal to minimiz
Page 153 and 154:
All heat transfer relations are ref
Page 155 and 156:
Angular drift of the stack was meas
Page 157 and 158:
knowledge of the resistance across
Page 159 and 160:
4. After these six hours of heating
Page 161 and 162:
5.3.3 Results5.3.3.1 Finite Element
Page 163 and 164:
Figure 5.15: Axial displacement con
Page 165 and 166:
0.200.10Tilt Angle [arcsec]0.00-0.1
Page 167 and 168:
superior in disturbance rejection,
Page 169 and 170:
1.801.601.40Temperature [C]1.201.00
Page 171 and 172:
Temperature [C]1.801.601.401.201.00
Page 173 and 174:
0.2000.150Temperature [C]0.1000.050
Page 175 and 176:
of heat, the temperature difference
Page 177 and 178:
0.200 50 100 150 200 250 300 350 40
Page 179 and 180:
Table 5.3 gives the results of the
Page 181 and 182:
0.350.3One-Piece5 Segments1-9 Segme
Page 183 and 184:
copper tube segments. Individual 1W
Page 185 and 186:
Fixed-base parallel manipulators ca
Page 187 and 188:
Chapter 6Toward Standard, Low-Cost,
Page 189 and 190:
The efficiency of the standard mech
Page 191 and 192:
6.1.2 Building and Using a Web-Base
Page 193 and 194:
tor, offers similar design guidance
Page 195 and 196:
other unit can be homogeneous with
Page 197 and 198:
dcontactRcoupLtRoutRinθFigure 6.4:
Page 199 and 200:
parallel arrangement of springs for
Page 201 and 202:
Wireless Close Read ORDirect Entry-
Page 203 and 204:
matted as XML schemas and broadcast
Page 205 and 206:
PROCESS FEEDBACKSYSTEMADMINISTRATOR
Page 207 and 208:
Furthermore, a fourth class of inte
Page 209 and 210:
For datum point (rather than custom
Page 211 and 212:
OFFLINECOMPUTERInteractive display
Page 213 and 214:
Chapter 7ConclusionThis thesis soug
Page 215 and 216:
Appendix AReferencesChapter 2[1] Sl
Page 217 and 218:
Appendix BKinematic Coupling Design
Page 219 and 220:
MLz + FLy*XL - FLx*XL];% Coupling D
Page 221 and 222:
end% Computation of coupling locati
Page 223 and 224:
ctthree = Rethree*sqrt((1/Rgrv3)^2+
Page 225 and 226:
% New ball coordinatesxboneN = xbon
Page 227 and 228:
four))^2)*sign(Abc*delthree+Abd*del
Page 229 and 230:
B.2 Contact Force Calculation for T
Page 231 and 232:
Rpins = 0.5;yo = 0.5;% radius offse
Page 233 and 234:
f2_torquevector = mut*cross(v_fr2_c
Page 235 and 236:
n3_torquevector = cross(v_cont3,v3_
Page 237 and 238:
Appendix CKinematic Exchangeability
Page 239 and 240:
tol_msys = 0.1; % measurement syste
Page 241 and 242:
% Nominal groove normal vectorsn11
Page 243 and 244:
pvr_grooves = randn(3,1).*pt_ps;pvt
Page 245 and 246:
a21b = -1*sin(th2b)/sqrt(1+tan(thg)
Page 247 and 248:
32gt = -cos(th3g)/sqrt(1+tan(thga3_
Page 249 and 250:
% 14 = using offset measurement fea
Page 251 and 252:
function [errorHTM] = errortransfor
Page 253 and 254:
% of a three-pin kinematic coupling
Page 255 and 256:
mag(normal1)*radii(1) + normal1(1)*
Page 257 and 258:
Appendix DAppended Thermal Stabilit
Page 259 and 260:
Temperature [C]0.800.700.600.500.40
Page 261 and 262:
Temperature [C]0.800.700.600.500.40
Page 263 and 264:
Appendix ERobot Calibration Pose Se
show all

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

Create successful ePaper yourself

Delete template?

Save as template?