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Thomas Dehaeze 2021-07-15 21:33:15 +02:00
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paper/dehaeze21_mechatronics_approach_nass.org
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@ -110,7 +110,7 @@ In order to design the NASS in a predictive way, a mechatronic approach, schemat
#+name: fig:nass_mechatronics_approach
#+attr_latex: :float multicolumn :width 0.9\linewidth
#+caption: Overview of the mechatronic approach
#+caption: Overview of the mechatronic approach used for the design of the NASS
[[file:figs/nass_mechatronics_approach.pdf]]
It consists of three main phases:
@ -136,7 +136,7 @@ Indeed, several models are used throughout the design with increasing level of c
\hfill
\begin{subfigure}[t]{0.48\linewidth}
\centering
\includegraphics[width=0.89\linewidth]{figs/nass_simscape_3d.png}
\includegraphics[width=0.89\linewidth]{figs/nass_simscape_3d.pdf}
\caption{\label{fig:nass_simscape_3d} Multi Body Model}
\end{subfigure}
\hfill
@ -180,12 +180,25 @@ Therefore, an alternative configuration with the encoders fixed to the plates wa
** Nano-Hexapod Specifications
The nano-hexapod should have a maximum height of $95\,mm$, support samples up to $50\,kg$ and have a stroke of $\approx 100\,\mu m$.
Has shown in Fig.\nbsp{}ref:fig:nano_hexapod_elements, it only has few parts: two plates and 6 active struts in between.
Each strut is composed of one flexible joint at each end, and one actuator in between (Fig.\nbsp{}ref:fig:picture_nano_hexapod_strut).
Each strut is composed of one flexible joint at each end, and one actuator in between (Fig.\nbsp{}ref:fig:nano_heaxpod_strut_picture).
#+name: fig:nano_hexapod_elements
#+attr_latex: :float multicolumn :width 0.9\linewidth
#+caption: CAD view of the nano-hexapod with key elements
[[file:figs/nano_hexapod_elements.pdf]]
#+begin_export latex
\begin{figure*}[htbp]
\begin{subfigure}[t]{0.80\linewidth}
\centering
\includegraphics[width=\linewidth]{figs/nano_hexapod_elements.pdf}
\caption{\label{fig:nano_hexapod_elements} CAD view of the nano-hexapod with key elements}
\end{subfigure}
\hfill
\begin{subfigure}[t]{0.19\linewidth}
\centering
\includegraphics[width=0.95\linewidth]{figs/nano_heaxpod_strut_picture.pdf}
\caption{\label{fig:nano_heaxpod_strut_picture} Mounted strut}
\end{subfigure}
\caption{\label{fig:nano_hexapod}Nano-hexapod}
\centering
\end{figure*}
#+end_export
Based on the models used throughout the mechatronic approach, several specifications was obtained in order to maximize the performances of the system:
- Actuator: axial stiffness $\approx \SI{2}{N/\um}$.
@ -202,16 +215,11 @@ The top plate geometry was manually optimized to maximize its flexible modes.
First flexible modes at around $\SI{700}{Hz}$ could be obtained.
Amplified Piezoelectric Actuators (APA) were found to be the most suitable actuator for the nano-hexapod due to its compact size, large stroke and adequate stiffness.
The chosen model was the APA300ML from Cedrat Technologies (shown in Fig.\nbsp{}ref:fig:picture_nano_hexapod_strut).
The chosen model was the APA300ML from Cedrat Technologies (shown in Fig.\nbsp{}ref:fig:nano_heaxpod_strut_picture).
It is composed of three piezoelectric stacks, a lever mechanism increasing the stroke up to $\approx \SI{300}{\um}$ and decreasing the axial stiffness down to $\approx \SI{1.8}{\um}$.
One of the three stacks can be used as a force sensor, at the price of loosing $1/3$ of the stroke.
This has the benefits providing good "collocation" between the sensor stack and the actuator stacks, meaning that the active damping controller will easily be made robust cite:souleille18_concep_activ_mount_space_applic.
#+name: fig:picture_nano_hexapod_strut
#+attr_latex: :width 0.9\linewidth
#+caption: Picture of a nano-hexapod's strut
[[file:figs/picture_nano_hexapod_strut.pdf]]
** Nano-Hexapod Mounting
A bench were developed to help the mounting of the struts such that the APA and the two flexible joints are well aligned.
This helped reducing the effects of flexible modes of the APA.
@ -223,7 +231,7 @@ The nano-hexapod fixed on top of the micro-station is shown in Fig.\nbsp{}ref:fi
#+name: fig:nano_hexapod_picture
#+attr_latex: :width 0.9\linewidth
#+caption: Nano-hexapod on top of the ID31 micro-station
[[file:figs/nano_hexapod_picture.jpg]]
[[file:figs/nano_hexapod_picture.pdf]]
* TEST-BENCHES
** Flexible Joints and Instrumentation

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paper/dehaeze21_mechatronics_approach_nass.tex
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@ -1,4 +1,4 @@
% Created 2021-07-15 jeu. 17:26
% Created 2021-07-15 jeu. 21:33
% Intended LaTeX compiler: pdflatex
\documentclass[a4paper, keeplastbox, biblatex, boxit]{jacow}
@ -72,7 +72,7 @@ In order to design the NASS in a predictive way, a mechatronic approach, schemat
\begin{figure*}
\centering
\includegraphics[scale=1,width=0.9\linewidth]{figs/nass_mechatronics_approach.pdf}
\caption{\label{fig:nass_mechatronics_approach}Overview of the mechatronic approach}
\caption{\label{fig:nass_mechatronics_approach}Overview of the mechatronic approach used for the design of the NASS}
\end{figure*}
It consists of three main phases:
@ -99,7 +99,7 @@ Indeed, several models are used throughout the design with increasing level of c
\hfill
\begin{subfigure}[t]{0.48\linewidth}
\centering
\includegraphics[width=0.89\linewidth]{figs/nass_simscape_3d.png}
\includegraphics[width=0.89\linewidth]{figs/nass_simscape_3d.pdf}
\caption{\label{fig:nass_simscape_3d} Multi Body Model}
\end{subfigure}
\hfill
@ -142,12 +142,22 @@ Therefore, an alternative configuration with the encoders fixed to the plates wa
\subsection{Nano-Hexapod Specifications}
The nano-hexapod should have a maximum height of \(95\,mm\), support samples up to \(50\,kg\) and have a stroke of \(\approx 100\,\mu m\).
Has shown in Fig.~\ref{fig:nano_hexapod_elements}, it only has few parts: two plates and 6 active struts in between.
Each strut is composed of one flexible joint at each end, and one actuator in between (Fig.~\ref{fig:picture_nano_hexapod_strut}).
Each strut is composed of one flexible joint at each end, and one actuator in between (Fig.~\ref{fig:nano_heaxpod_strut_picture}).
\begin{figure*}
\centering
\includegraphics[scale=1,width=0.9\linewidth]{figs/nano_hexapod_elements.pdf}
\caption{\label{fig:nano_hexapod_elements}CAD view of the nano-hexapod with key elements}
\begin{figure*}[htbp]
\begin{subfigure}[t]{0.80\linewidth}
\centering
\includegraphics[width=\linewidth]{figs/nano_hexapod_elements.pdf}
\caption{\label{fig:nano_hexapod_elements} CAD view of the nano-hexapod with key elements}
\end{subfigure}
\hfill
\begin{subfigure}[t]{0.19\linewidth}
\centering
\includegraphics[width=0.95\linewidth]{figs/nano_heaxpod_strut_picture.pdf}
\caption{\label{fig:nano_heaxpod_strut_picture} Mounted strut}
\end{subfigure}
\caption{\label{fig:nano_hexapod}Nano-hexapod}
\centering
\end{figure*}
Based on the models used throughout the mechatronic approach, several specifications was obtained in order to maximize the performances of the system:
@ -167,17 +177,11 @@ The top plate geometry was manually optimized to maximize its flexible modes.
First flexible modes at around \(\SI{700}{Hz}\) could be obtained.
Amplified Piezoelectric Actuators (APA) were found to be the most suitable actuator for the nano-hexapod due to its compact size, large stroke and adequate stiffness.
The chosen model was the APA300ML from Cedrat Technologies (shown in Fig.~\ref{fig:picture_nano_hexapod_strut}).
The chosen model was the APA300ML from Cedrat Technologies (shown in Fig.~\ref{fig:nano_heaxpod_strut_picture}).
It is composed of three piezoelectric stacks, a lever mechanism increasing the stroke up to \(\approx \SI{300}{\um}\) and decreasing the axial stiffness down to \(\approx \SI{1.8}{\um}\).
One of the three stacks can be used as a force sensor, at the price of loosing \(1/3\) of the stroke.
This has the benefits providing good ``collocation'' between the sensor stack and the actuator stacks, meaning that the active damping controller will easily be made robust \cite{souleille18_concep_activ_mount_space_applic}.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1,width=0.9\linewidth]{figs/picture_nano_hexapod_strut.pdf}
\caption{\label{fig:picture_nano_hexapod_strut}Picture of a nano-hexapod's strut}
\end{figure}
\subsection{Nano-Hexapod Mounting}
A bench were developed to help the mounting of the struts such that the APA and the two flexible joints are well aligned.
This helped reducing the effects of flexible modes of the APA.
@ -188,7 +192,7 @@ The nano-hexapod fixed on top of the micro-station is shown in Fig.~\ref{fig:nan
\begin{figure}[htbp]
\centering
\includegraphics[scale=1,width=0.9\linewidth]{figs/nano_hexapod_picture.jpg}
\includegraphics[scale=1,width=0.9\linewidth]{figs/nano_hexapod_picture.pdf}
\caption{\label{fig:nano_hexapod_picture}Nano-hexapod on top of the ID31 micro-station}
\end{figure}

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\node[myblock, fill=lightred, label={[mylabel] Implementation}, below = 2pt of testbenches] (implementation) {};
% Text
\node[anchor=south, above, text width=8cm, align=left] at (model.south) {Extensive use of models for:\begin{itemize}[noitemsep,topsep=5pt]\item Extraction of transfer functions \\ \item Choice of control architecture \\ \item Tuning of control laws \\ \item Closed loop simulations \\ \item Noise budgets / Evaluation of performances \\ \item Sensibility to parameters / disturbances\end{itemize}Helpful for proper and predictive design!};
\node[anchor=south, above, text width=8cm, align=left] at (model.south) {Extensive use of models for:\begin{itemize}[noitemsep,topsep=5pt]\item Extraction of transfer functions \\ \item Choice of appropriate control architecture \\ \item Tuning of control laws \\ \item Closed loop simulations \\ \item Noise budgets / Evaluation of performances \\ \item Sensibility to parameters / disturbances\end{itemize}\centerline{Models are at the core the mecatronic approach!}};
\node[mymodel] at (mustation.south) {Multiple stages \\ Complex dynamics};
\node[mymodel] at (dist.south) {Ground motion \\ Position errors};
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% Main steps
\node[font=\bfseries, rotate=90, anchor=south, above] (conceptual_phase_node) at (dist.west) {1 - Conceptual Phase};