A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2005
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| Online Access: | http://hdl.handle.net/1721.1/8135 |
| _version_ | 1826213418243194880 |
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| author | Araque, Carlos A. (Carlos Alberto), 1978- |
| author2 | Martin L. Culpepper. |
| author_facet | Martin L. Culpepper. Araque, Carlos A. (Carlos Alberto), 1978- |
| author_sort | Araque, Carlos A. (Carlos Alberto), 1978- |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002. |
| first_indexed | 2024-09-23T15:48:46Z |
| format | Thesis |
| id | mit-1721.1/8135 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T15:48:46Z |
| publishDate | 2005 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/81352019-04-12T13:59:39Z A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems Araque, Carlos A. (Carlos Alberto), 1978- Martin L. Culpepper. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002. Includes bibliographical references (p. 83-84). 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. by Carlos A. Araque. S.M. 2005-08-24T20:37:56Z 2005-08-24T20:37:56Z 2002 2002 Thesis http://hdl.handle.net/1721.1/8135 51805259 eng 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 89 p. 5834222 bytes 5833982 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Araque, Carlos A. (Carlos Alberto), 1978- A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems |
| title | A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems |
| title_full | A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems |
| title_fullStr | A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems |
| title_full_unstemmed | A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems |
| title_short | A kinematic-coupling-based adaptive fixture for high precision positioning applications in flexible manufacturing systems |
| title_sort | kinematic coupling based adaptive fixture for high precision positioning applications in flexible manufacturing systems |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/8135 |
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