Kinematic-Couplings---Powering-Silicon-Valley--San-Jose-State-运动学耦合动力硅谷圣若泽州立-PPT精选文.ppt

Kinematic CouplingsGus HansenPhil WaymanSunny Ng AgendaCoupling DefinitionMethods of CouplingKinematic Coupling DesignCritical Design IssuesCompliant Kinematic CouplingsConclusion What is a “Coupling”For the purposes of this discussion, a “coupling” is a device with the following characteristics:A coupling connects two parts or assembliesIt can be separated and rejoined at willThe resulting connection will have some level of stiffness.The specific locating features of the connection will result in some level of accuracy and repeatability. Methods of CouplingPin/Hole MethodElastic Averaging MethodQuasi-Kinematic MethodPlanar-Kinematic MethodKinematic Method Pinned JointsAdvantagesA seal between the coupling componentsDisadvantagesJamming Wedging = high assembly/mfg cost“Slop” = component relative location not uniquely defined.Repeatability ↑ Tolerance↑ Elastic AveragingAdvantage:Capability of withstanding high loadsLarge amount of contact area allow for a stiff joint design.Better repeatability than pin jointDisadvantage:Grossly over constrainedSusceptible to surface finish contaminantsRepeatability requires an extended period of “wear-in” Quasi-Kinematic CouplingAdvantage = DisadvantageNear kinematicImprove load capacity over K.C.Not as over constraint as Elastic AveragingLess sensitive in placements of their locating features = mfg. cost lower Planar Kinematic CouplingExtension to QKCMixed nature of couplingLarge contact surface with line or point to constraint degrees of freedomHigh stiffness and load capacityGood repeatability Kinematic CouplingAdvantageLow cost Sub-micron repeatabilityLess sensitive to contaminationDisadvantagesHigh stress concentrationDoes not allow for sealing joints Methods of CouplingCoupling TypeContact TypeRepeatabilityStiffness/Load CapacityIndustrially IdealBasic Pin JointSurfacePoor(~5 mm)HighFairElastic AveragingSurfaceFair(~1 mm)HighGoodPlanar KinematicMixedGoodHighGoodQuasi-KinematicLineGood(~0.5 mm)Medium to HighGoodKinematic