TABLE OF CONTENTS

Acknowledgments

Table of Contents

Chapter 1: Introduction (PDF)

1.1 Motivation

1.2 Thesis Scope and Organization

Chapter 2: Design of Coupling Interfaces (PDF)

2.1 General Coupling Description

2.2 Coupling Interface Types

2.3 Design of Standard Kinematic Couplings

2.4 Three Pin Coupling

2.5 Factory Issues

Chapter 3: Small Scale Design Case Study: The Calibration Cube (PDF)

3.1 Background and Problem Description

3.2 Design Development

3.3 Physical Prototypes

Chapter 4: Medium Scale Design Case Study: Wrist Interface (PDF)

4.1 Background and Problem Description

4.2 Design Development and Construction

4.3 Physical Prototypes

Conclusion (PDF)

References (PDF)