Kinematic couplings have been used to create palletized system for part transfer in a microfactory. While kinematic couplings provide high repeatability, calibration is needed to achieve high interchangeability accuracy. In this paper, a generalized artifact-based methodology for pallet calibration and workpiece registration is developed. This calibration method uses the microfactory machines to both machine and measure artifacts to estimate the interchangeability errors. The error sources affecting the accuracy of calibration are analyzed and techniques are suggested to reduce these errors. Finally, the methodology is applied and validated for a specific microfactory application.

Issue Section:
Special Section: Micromanufacturing
Keywords:
calibration, couplings, error statistics, kinematics, machinery production industries, palletising
Topics:
Calibration, Couplings, Errors, Kinematics, Machinery, Pallets
1.
Breguet
,
J.-M.
,
Schmitt
,
C.
, and
Clavel
,
R.
, 2000, “
Micro∕Nanofactory: Concept and State of the Art, Microrobotics and Microassembly II
,”
Proc. SPIE
0277-786X,
4194
, pp.
1
–
5
.
2.
Furuta
,
K.
,
Ishikawa
,
Y.
,
Mikuriya
,
Y.
, and
Takahashi
,
Y.
, 1998, “
The Microfactory System in National R&D Project of MITI
,”
Proceedings of IWMF 1998
, pp.
193
–
196
.
3.
Gaugel
,
T.
,
Dobler
,
H.
, and
Bengel
,
M.
, 2002, “
Building a Mini-Factory From a Technology Construction Kit
,”
Proceedings of IWMF 2002
, pp.
5
–
8
.
4.
Hollis
,
R.
, and
Gowdy
,
J.
, 1998, “
Miniature Factories for Precision Assembly
,”
Proceedings of IWMF 1998
, pp.
9
–
14
.
5.
Langstaff
,
G.
, 2005, “
An Investigation on Systems for Fully Automated mMT and Microfactory Operation
,” MS thesis, University of Illinois, Urbana, IL.
6.
Honegger
,
A.
, 2005, “
Micro∕Meso-Scale Machine Tool Development and Calibration
,” MS thesis, University of Illinois, Urbana, IL.
7.
Barraja
,
M.
, and
Vallance
,
R. R.
, 2005, “
Tolerancing Kinematic Couplings
,”
Precis. Eng.
0141-6359,
29
, pp.
101
–
112
.
Crossref
Search ADS
 
8.
Mangudi
,
K.
, and
Culpepper
,
M. L.
, 2004, “
Active, Compliant Fixtures for Nanomanufacturing
,”
Annual Meeting of the American Society for Precision Engineering
,
Orlando, FL
, Oct. pp.
113
–
116
.
9.
Culpepper
,
M. L.
,
Mangudi
,
K. V.
, and
DiBiaso
,
C.
, 2005, “
Design of Integrated Eccentric Mechanisms and Exact Constraint Fixtures for Micron-Level Repeatability and Accuracy
,”
Precis. Eng.
0141-6359,
29
, pp.
65
–
80
.
Crossref
Search ADS
 
10.
Hart
,
A. J.
,
Slocum
,
A.
, and
Willoughby
,
P.
, 2004, “
Kinematic Coupling Interchangeability
,”
Precis. Eng.
0141-6359,
28
, pp.
1
–
15
.
Crossref
Search ADS
 
11.
Bringmann
,
B.
,
Küng
,
A.
, and
Knapp
,
W.
, 2005, “
A Measuring Artefact for True 3D Machine Testing and Calibration
,”
CIRP Ann.
0007-8506,
51
(
1
), pp.
433
–
436
.
12.
Kunzmann
,
H.
, and
Waldele
,
F.
, 1983, “
On Testing Coordinate Measuring Machines (CMM) With Kinematic Reference Standards (KRS)
,”
CIRP Ann.
0007-8506,
39
(
1
), pp.
561
–
564
.
Crossref
Search ADS
 
13.
Slocum
,
A.
, 1992,
Precision Machine Design
,
Prentice-Hall
,
Englewood Cliffs, NJ
.
14.
Hale
,
L. C.
, and
Slocum
,
A. H.
, 2001, “
Optimal Design Techniques for Kinematic Couplings
,”
Precis. Eng.
0141-6359,
25
, pp.
114
–
127
.
Crossref
Search ADS
 
15.
Vallance
,
R. R.
,
Morgan
,
C.
, and
Slocum
,
A. H.
, 2004, “
Precisely Positioning Pallets in Multi-Station Assembly Systems
,”
Precis. Eng.
0141-6359,
28
, pp.
218
–
231
.
Crossref
Search ADS
 
16.
Tajbakhsh
,
H.
,
Abadin
,
Z.
, and
Ferreira
,
P. M.
, 1997, “
L∞ Parameter Estimates for Volumetric Error in Models of Machine Tools
,”
Precis. Eng.
0141-6359,
20
, pp.
179
–
187
.
Crossref
Search ADS
 
17.
Hollerbach
,
J. M.
, 1989, in
A Survey of Kinematic Calibration
(
The Robotics Review Vol. 1
),
O.
Khatib
,
J. J.
Craig
, and
T.
Lozano-Pérez
, eds.,
The MIT Press
,
Cambridge, MA
.
Copyright © 2008
 by American Society of Mechanical Engineers
You do not currently have access to this content.