General Precision Machine Design

Hale, Layton C. "Principles and Techniques for Designing Precision Machines." Ph.D. Thesis, Massachusetts Institute of Technology, Cambridge, MA, 1999.

[Slocum, 1992a] Slocum, Alexander H. Precision Machine Design. Prentice-Hall: Englewood Cliffs, NJ, 1992.

Slocum, Alexander H. "Method of and Apparatus for Locating and Orientating a Part on a Gripper and Transferring it to a Tool While Maintaining Location and Orientation on the Too.l" U.S. Patent 5,711,647, January 27, 1998.

Smith and Chetwynd. Foundations of Ultraprecision Mechanism Design. Gordon & Breach Science Publishers: Montreux, Switzerland, 1992.

General Design Principles and Theory

[Beer, 1992] Beer, Ferdinand P. and Russell Johnston, Jr. Mechanics of Materials. 2nd ed. McGraw-Hill, Inc.: New York, 1992.

[Bickford, 1998] Bickford, John H. and Sayed Nassar, eds. Handbook of Bolts and Bolted Joints. Marcel Dekker, Inc.: New York, 1998.

[Blanding, 1999] Blanding, Douglas K. Exact Constraint: Machine Design Using Kinematic Principles. ASME Press: New York, 1999.

[Johnson, 1985] Johnson, K.L. Contact Mechanics. Cambridge University Press: Cambridge, UK, 1985.

Mott, Robert L. Machine Elements in Mechanical Design. 2nd ed. Prentice Hall: Upple Saddle River, NJ, 1992.

Design of Kinematic Couplings

Hale, Layton C. and Alexander H. Slocum. "Optimal Design Techniques for Kinematic Couplings", Precision Engineering, 25, 114-127, 2000.

[Mullenheld, 1999] Mullenheld, Bernard. "Prinzips der kinematischen Kopplung als Schnittstelle zwischen Spindel und Schleifscheibe mit praktischer Erprobung im Vergleich zum Kegel-Hohlschaft" (Application of kinematic couplings to a grinding wheel interface), SM Thesis, Aachen, Germany, 1999.

[Slocum, 1988a] Slocum, Alexander H. "Kinematic Couplings for Precision Fixturing -- Part I: Formulation of Design Parameters", Precision Engineering, 10.2, 85-91, 1988.

[Slocum, 1988b] Slocum, Alexander H. and Alkan Donmez. "Kinematic Couplings for Precision Fixturing - Part 2: Experimental Determination of Repeatability and Stiffness", Precision Engineering, 10.3, July 1988.

[Slocum, 1992b] Slocum, Alexander H. "Design of Three-Groove Kinematic Couplings", Precision Engineering, 14.2, 67-76, 1992.

Design of Quasi-Kinematic Couplings

[Culpepper, 2000] Culpepper, Martin L. "Design and Application of Compliant Quasi-Kinematic Couplings", Ph.D. Thesis, Massachusetts Institute of Technology, Cambridge, MA, 2000.

Culpepper, Martin L. and Alexander H. Slocum. "Quasi-Kinematic Coupling and Method for Use in Assembling and Locating Mechanical Components and the Like", U.S. Patent 6,193,430, February 27, 2001.

Use of CAE in Design

Bamberg, Eberhard. "Principles of Rapid Machine Design", Ph.D. Thesis, Massachusetts Institute of Technology, Cambridge, MA, 2000.

Dimarogonas, Andrew D. Computer Aided Machine Design. Prentice Hall: New York, 1989.

Zhavi, Eliahu. The Finite Element Method in Machine Design. Prentice Hall: Englewood Cliffs, NJ, 1992.

Project Specific Resources

ABB IRB6400R Product Manual.

Leica LTD500 Product Information,

Wyler AG Zerotronic Measurement System,

[Robertson, 2001] Robertson, A., Slocum, A., Willoughby, P. "Precision Robot Calibration Using Kinematically Placed Inclinometers." Proceedings of 2001 ASPE Conference, p 229 - 232.