Presentations

F.E. Rojas & N.C. Hanumara Overview: Kinematic Coupling for Precision Fixturing & Assembly (a good primer)
Selected material from: A. Slocum and M. Culpepper

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

2.75MB
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 Thesis


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

1988
...
Kinematic couplings for precision fixturing—Part I: Formulation of design parameters

A. H. Slocum
1988
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Kinematic couplings for precision fixturing — Part 2: Experimental determination of repeatability and stiffness

A. H. Slocum, A. Donmez
1992
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Design of three-groove Kinematic Coupling

A. H. Slocum
1996
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SEMI E57 - Mechanical Specifications for Kinematic Couplings Used to Align and Support 300mm Wafer Carriers
1998
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Friction-based design of kinematic couplings

L. C. Hale
1999
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KiNNi-Mate Precision Couplings for Low-Cost Precision Alignment

M. Culpepper, A.H. Slocum
1999
...
Quasi-Kinematic Couplings for Precision Automotive Assemblies

M. Culpepper, A.H. Slocum, F.Z. Shaikh
2000
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Interface Apparatus for Automatic Test Equipment, U.S. Patent 6,104,202

A.H. Slocum, M. Chiu

2001
...
Optimal Design Techniques for Kinematic Couplings

L. C. Hale, A.H. Slocum
2001
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Quasi-kinematic coupling and method for use in assembling and locating mechanical components and the like, U.S. Patent 6,193,430

M. Culpepper, A.H. Slocum
2001
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Method and Apparatus for Aligning an Optic Fiber with an Opto-Electronic Device, U.S. Patent 6,217,232

K. Duesman, W. M. Farnworth
2001
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Self-Aligning Method and Interlocking Assembly for Attaching an Optoelectronic Device to a Coupler, U.S. Patent 6,234,687

R. R. Hall, H. T. Lin
2002
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An anti-backlash two-part shaft coupling with interlocking elastically averaged teeth

M. Balasubramaniam, E. golaski, S. son, K. Sriram, A.H. Slocum
2002
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Precision Robot Calibration Using Kinematically Placed Inclinometers

A. P. Robertson, A.H. Slocum, P.J. Willoughby
2003
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Precision Passive Mechanical Alignment of Wafers

A. Slocum, A. Weber
2003
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Design of Hard Coated Hertzian Contacts for Precision Equipment

K. M. Varadarajan, M. Culpepper
2004
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Precisely Positioning Pallets in Multi-Station Assembly Systems

R. R. Vallance, C. Morgan, A.H. Slocum
2004
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Kinematic Coupling Interchangeability

A.J. Hart, A.H. Slocum, P.J. Willoughby
2004
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Design of Quasi-Kinematic Couplings

M. Culpepper
2005
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Active Compliant Fixtures for Nanomanufacturing

M. Culpepper, K.M. Varadarajan
2005
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Design of integrated mechanisms and exact constraint fixtures for micron-level repeatability and accuracy

M. Culpepper, K.M. Varadarajan, C. DiBiasio
2007
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A dual-purpose positioner-fixture for precision six-axis positioning and precision fixturing: Part I. Modeling and design

M. Culpepper, K.M. Varadarajan
2019
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Self-Alignment of Kinematic Couplings: Effects of Deformations

F. Patti, J.M. Vogels
2020
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A Miniature Kinematic Coupling Device for Mouse Head Fixation

S.J. Kim, A.H. Slocum, B.B. Scott

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 Culpepper Lab @ MIT)  
  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