Document Repository

This page contains a list of all documents available from recent research on Kinematic Couplings.

Presentations
A. Slocum and M. Culpepper Kinematic Couplings for Precision Fixtures and Assembly

1.81MB

F.E. Rojas and N.C. Hanumara
Selected material from: A. Slocum and M. Culpepper

 Overview: Kinematic Coupling for Precision Fixturing & Assembly (a good primer)


2 MB
A. Slocum, J. Hart, P. Willoughby Kinematic Couplings and Elastic Averaging - Presentation to the CIMIT Forum on possible applications of KC's to the medical field

3.81MB
A. Robertson, P. Willoughby, A. Slocum Precision Robot Calibration Using Kinematically Placed Inclinometers - Poster presentation to the ASPE Annual Meeting in 2001

1.62MB
C. Araque, C.K. Harper, P. Petri Low Cost Kinematic Couplings - Presentation for the 2.75 Precision Machine Design course at MIT from the Low Cost KC group. Study of the effects of TiN and WS2 coatings on coupling repeatability (thanks to Morris Kaufman for the original idea). Please see http://psdam.mit.edu/kc for more info.

716KB
J. Hart High-Accuracy, Quick-Change, Robot Factory Interface - Summary presentation of Hart's Master's Thesis on ABB robot base interface

395KB
P. Willoughby Design of a Precision Robot Wrist Interface - Summary presentation of Willoughby's Master's Thesis on ABB robot base interface

6.40MB
J. Hart Segmentation of Structures for Improved Thermal Stability and Mechanical Interchangeability - Presentation on use of KC's as a thermal tool

2.28MB
K. M. Varadarajan and M. Culpepper Active Compliant Fixtures for Nanomanufacturing

2.48MB

   

Master's and Doctoral Theses
M. L. Culpepper

Design and Application of Compliant Quasi-Kinematic Couplings

3.08MB

A. J. Hart

Design and Analysis of Kinematic Couplings for Modular Machine and Instrumentation Structures

P. J. Willoughby

Kinematic Alignment of Precision Robotic Elements in Factory Environments
L. C. Hale Principles and Techniques for Designing Precision Machines - Excerpt on Practical Exact-Constraint Design

837KB
L. C. Hale Principles and Techniques for Designing Precision Machines - Excerpt on Examples of Exact-Constraint Design

2.44MB
A. Weber Precision Passive Alignment of Wafers

3.18MB

 

Papers and Patents

Standard Kinematic Couplings
A. Slocum Design of Three-Groove Kinematic Couplings (Copyright ASPE)

1.56MB
A. Slocum Kinematic Couplings for Precision Fixturing - Part 1: Formulation of Design Parameters (Copyright ASPE)

703KB
A. Slocum and A. Donmez Kinematic Couplings for Precision Fixturing - Part 2: Experimental Determination of Repeatability and Stiffness (Copyright ASPE)

292KB
L. C. Hale and A. Slocum Optimal Design Techniques for Kinematic Couplings

809KB
L. C. Hale Friction-Based Design of Kinematic Couplings

59.7KB
A. Robertson, P. Willoughby, and A. Slocum Precision Robot Calibration Using Kinematically Placed Inclinometers

144KB
A. J. Hart, A. Slocum, P. Willoughby Kinematic Coupling Interchangeability (Copyright ASPE)

532KB
A. Slocum and M. Chiu Interface Apparatus for Automatic Test Equipment, U.S. Patent 6,104,202

853KB
R. Vallance, C. Morgan, and A. Slocum Precisely Positioning Pallets in Multi-Station Assembly Systems

535KB
SEMI Semiconductor Equipment and Materials International (SEMI) Standard SEMI E57-0299: Provisional Mechanical Specification for Kinematic Couplings Used to Align and Support 300mm Wafer Carriers

68KB

Quasi-Kinematic Couplings
M. Culpepper and A. Slocum Patent #6,193,430: Quasi-Kinematic Couplings and Method for their Use in Assembling and Locating Mechanical Components and the Like (Courtesy of http://psdam.mit.edu)

576KB
M. Culpepper, A. Slocum, and F. Shaikh Quasi-Kinematic Couplings for Precision Automotive Assemblies (Courtesy of http://psdam.mit.edu)

338KB
M. Culpepper, A. Slocum, and F. Shaikh R&D 100 - Quasi-Kinematic Coupling - One of the Best 100 Products of the Year (Courtesy of http://psdam.mit.edu)

775KB
M. Culpepper General Quasi-Kinematic Coupling Presentation (Courtesy of http://psdam.mit.edu)

2.75MB

Adjustable or Compliant Couplings

K. M. Varadarajan and M. Culpepper Active Compliant Fixtures for Nanomanufacturing

740KB
K. M. Varadarajan and M. Culpepper Design of a Hybrid Positioner-Fixture for Six-axis Nanopositioning
and Precision Fixturing

807KB
M. Culpepper, K. M. Varadarajan, and C. DiBiasio
 Design of integrated mechanisms and exact constraint fixtures for micron-level repeatability and accuracy

1.16MB

Miscellaneous
M. Balasubramaniam, E. Golaski, S. Son, K. Sriram, A. Slocum

An Anti-Backlash Two-Part Shaft Coupling with Interlocking Elastically Average Teeth

980KB
K Duesman and W. M. Farnworth Method and Apparatus for Aligning an Optic Fiber with an Opto-Electronic Device, U.S. Patent 6,217,232

492KB
R. R. Hall and H. T. Lin Self-Aligning Method and Interlocking Assembl for Attaching an Optoelectronic Device to a Coupler, U.S. Patent 6,234,687

339KB
A. Slocum and A. Weber Precision Passive Mechanical Alignment of Wafers

344KB
K. M. Varadarajan and M. Culpepper Design of Hard Coated Hertzian Contacts for Precision Equipment

241KB
     

Lectures
A. Slocum Lecture Notes from 2.007 Design Course
  Topic 1: Design is a Process

12.35MB
  Topic 2: Creation of Ideas

5.67MB
  Topic 3: Fundamental Principles

1.99MB
  Topic 4: Errors in Precision Machines

1.90MB
M. Culpepper Invited Lecture Presentation for 2.75 Precision Machine Design Course (broken into topical groups, courtesy of http://psdam.mit.edu)  
  Design of Constraint

977KB
  General Kinematic Couplings

837KB
  Near Kinematic Couplings

445KB
  Adjustable Geometric Constraint

1.61MB
  Partial Constraints

358KB
  Using Constraints in Mechanism Design

338KB

   

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