kinematic & quasi-kinematic constraints: what they are ......advantages & disadvantages •...
TRANSCRIPT
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KinematicKinematic & Quasi& Quasi--KinematicKinematicConstraints:Constraints:
What They Are & How They What They Are & How They WorkWork
A Presentation byDave Fellowes
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OutlineOutline• Background• Kinematic Constraints
– Detailed Description– Advantages & Disadvantages– Example
• Quasi-Kinematic Constraints– Detailed Description– Advantages & Disadvantages– Example
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BackgroundBackground
• Free Space: Six Coordinates– Translation: x, y, z– Rotation: yaw, pitch, roll
• Kinematic Constraint:– All 6 Constrained Fully– No Over-constraint
• Quasi-kinematic Constraint:– Some Over-constraint Allowed
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BackgroundBackground
Kinematic and Quasi-kinematic Constraints
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KinematicKinematic Constraints: Constraints: DescriptionDescription
• Six Point Contacts Required• Each Contact Constrains one DOF• Under-constraint (one or more DOF not
constrained)• Over-constraint• Preloading
– Not a constraint– Allows constraint to be functional
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KinematicKinematic Constraints: Constraints: DescriptionDescription
• 3 Ball/1 Cone/1 Groove/1 Flat System
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KinematicKinematic Constraints: Constraints: DescriptionDescription
• 6 Point/3 Groove System
Stablity (or Lack Thereof) of 6 Point/3 Groove System with Different
Configurations
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KinematicKinematic Constraints: Constraints: DescriptionDescription
• 3 Fundamental Concerns– Friction
• Sliding must be allowed• Coefficient of friction must be lower than tangent of
angle– Contact Stresses
• Reduce where possible– Stability
• Achieved through geometry
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KinematicKinematic Constraints: Constraints: Advantages & DisadvantagesAdvantages & Disadvantages
• Advantages:– Holding a Body with Highest Precision– Motion without Backlash– Repeatable to Sub-micron level– Can be Built without Precision Manufacturing
Techniques• Disadvantages:
– Possibility of Overconstraint– Friction, Surface Finish, Loads– Impossibility of True Point Contacts– High Contact Stresses– Does not Achieve Low Cost Manufacturing Goals
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KinematicKinematic Constraints: An Constraints: An ExampleExample
• Newport Adjustable Kinematic Optic Mount– Flat/Groove/Cone– Actuators for Pitch & Yaw– Not Gimbaled – Some x & y Offset Results
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QuasiQuasi--KinematicKinematic Constraints: Constraints: DescriptionDescription
• Similar Concept to Kinematic Constraints• Slight Overconstraints Allowed (Area
Contacts)• Each Contact Area Constrains one DOF
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QuasiQuasi--KinematicKinematic Constraints: Constraints: Advantages & DisadvantagesAdvantages & Disadvantages
• Advantages:– Good Repeatability (10’s of Microns)– Low Costs– Lower Stresses– Readily Machined (with CNC)– Achieves Low Cost Manufacturing Goals
• Disadvantages:– Not Quite as Good Performance
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KinematicKinematic Constraints: An Constraints: An ExampleExample
• CNC Machinable Filter Mount– 6 Area Contacts– 3 Spring Preloads– Filter Can Be Removed & Replaced
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ConclusionConclusion• Kinematic Coupling:
– Precise Constrain of All 6 DOF’s• Quasi-Kinematic Coupling:
– Less Expensive– Lower Performance
• Both Mounts Are Used Extensively in Optomechanical Systems
• Important Concepts to Know & Darn Useful!