The quantification of stability of kinematic couplings using robotic grasping measures
J.C. Resink (TU Delft - Mechanical Engineering)
J.L. Herder – Mentor (TU Delft - Precision and Microsystems Engineering)
W.W.P.J. van de Sande – Mentor (TU Delft - Mechatronic Systems Design)
Michaël Wiertlewski – Graduation committee member
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Abstract
Kinematic couplings (KCs) are a subclass of couplings known for reaching unmatched precision, through relatively simplistic designs. The 3-vee-groove and Kelvin clamp are the archetype designs, and are still being further investigated for their potential. One of the limiting factors in the field of kinematic couplings is the lack of proper knowledge on how to assure stability of newly designed couplings. In this paper, the theoretical gap between the field of robotic grasping and the field of kinematic coupling is researched. It is shown that by making small alterations in the way of modelling the design problem, one can lend the performance measures that are used in the field robotic grasping for quantification of grasp performance, and apply these on the design process of kinematic couplings. This allows a designer to quantify and predict performance of newly designed couplings. The measures analysed in this paper are compared and scored in a table, where a tool is presented to help guide future coupling designers in the process.