# Nanometre-cutting machine using a stewart-platform parallel mechanism - My digital brain
Tags Stewart Platforms, Flexible Joints Reference (Katsushi Furutani {\it et al.}, 2004) Author(s) Furutani, K., Suzuki, M., &amp; Kudoh, R. Year 2004 Lever mechanism to amplify the motion of piezoelectric stack actuators Use of flexure joints Eddy current displacement sensors for control (decentralized) Isotropic performance (cubic configuration even if not said so) Possible sources of error: position error of the link ends in assembly =&gt; simulation of position error and it is not significant Inaccurate modelling of the links insufficient generative force unwanted deformation of the links [cut: 707 characters, first 599 kept]
Author: — Thomas Dehaeze

# Nanometre-cutting machine using a stewart-platform parallel mechanism

Tags
  Stewart Platforms, Flexible Joints
Reference
  (Katsushi Furutani {\it et al.}, 2004)
Author(s)
  Furutani, K., Suzuki, M., & Kudoh, R.
Year
  2004

- Lever mechanism to amplify the motion of piezoelectric stack actuators
- Use of flexure joints
- Eddy current displacement sensors for control (decentralized)

- Isotropic performance (cubic configuration even if not said so)

Possible sources of error:

- position error of the link ends in assembly => simulation of position error and it is not significant
- Inaccurate modelling of the links
- insufficient generative force
- unwanted deformation of the links

To minimize the errors, a calibration is done between the required leg length and the wanted platform pose. Then, it is fitted with 4th order polynomial and included in the control architecture.

# Bibliography

Furutani, K., Suzuki, M., & Kudoh, R., Nanometre-cutting machine using a stewart-platform parallel mechanism, Measurement Science and Technology, 15(2), 467–474 (2004). http://dx.doi.org/10.1088/0957-0233/15/2/022 ↩