digital-brain/content/zettels/stewart_platforms.md

+++
title = "Stewart Platforms"
author = ["Dehaeze Thomas"]
draft = false
category = "equipment"
+++

Tags
:


## Manufacturers {#manufacturers}

| Manufacturers                                                                                                                                                                      | Country |
|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------|
| [PI](https://www.physikinstrumente.com/en/products/parallel-kinematic-hexapods/)                                                                                                   | Germany |
| [Newport](https://www.newport.com/search/?q1=hexapod%3Arelevance%3Acompatibility%3AMETRIC%3AisObsolete%3Afalse%3A-excludeCountries%3AFR%3AnpCategory%3Ahexapods&ajax&text=hexapod) | USA     |
| [Symetrie](https://symetrie.fr/en/hexapods-en/positioning-hexapods/)                                                                                                               | France  |
| [CSA Engineering](https://www.csaengineering.com/products-services/hexapod-positioning-systems/hexapod-models.html)                                                                | USA     |
| [Aerotech](https://www.aerotech.com/product-catalog/hexapods.aspx)                                                                                                                 | USA     |
| [SmarAct](https://www.smaract.com/smarpod)                                                                                                                                         | Germany |
| [Gridbots](https://www.gridbots.com/hexamove.html)                                                                                                                                 | India   |
| [Alio Industries](https://www.alioindustries.com/)                                                                                                                                 | USA     |
| [MOOG](https://www.moog.com/products/hexapods-positioning-systems.html)                                                                                                            |         |


## Stewart Platforms at ESRF {#stewart-platforms-at-esrf}

| Beamline | Manufacturer | Comments                          |
|----------|--------------|-----------------------------------|
| ID11     | Symetrie     | Small, Piezo based                |
| ID31     | Symetrie     | Large Stroke, Encoders, DC motors |
| ID01     | PI           |                                   |
| ID16a    | ESRF         | Piezo (PI)                        |


## Flexure Jointed Stewart Platforms {#flexure-jointed-stewart-platforms}

Papers by J.E. McInroy:

-   <obrien98_lesson>
-   <mcinroy99_precis_fault_toler_point_using_stewar_platf>
-   <mcinroy99_dynam>
-   <mcinroy00_desig_contr_flexur_joint_hexap>
-   <chen00_ident_decoup_contr_flexur_joint_hexap>
-   <mcinroy02_model_desig_flexur_joint_stewar>
-   <li01_simul_vibrat_isolat_point_contr>
-   <lin03_adapt_sinus_distur_cancel_precis>
-   <jafari03_orthog_gough_stewar_platf_microm>
-   <chen04_decoup_contr_flexur_joint_hexap>

Main advantage of flexure jointed Stewart platforms over conventional (long stroke) ones:

-   Linear behavior
-   Constant Jacobian matrices along all stroke
-   No singularity
-   Easier to decouple the dynamics that works for all the stroke


## Bibliography {#bibliography}

<./biblio/references.bib>
Add content folder 2020-04-20 18:58:10 +02:00			`+++`
			`title = "Stewart Platforms"`
Update Content - 2022-03-15 2022-03-15 16:40:48 +01:00			`author = ["Dehaeze Thomas"]`
Add content folder 2020-04-20 18:58:10 +02:00			`draft = false`
Update Content - 2022-03-22 2022-03-22 16:42:13 +01:00			`category = "equipment"`
Add content folder 2020-04-20 18:58:10 +02:00			`+++`

Update all files with new citeproc-org package 2020-08-17 23:00:20 +02:00			`Tags`
			`:`


Update Content - 2020-09-04 2020-09-04 15:42:37 +02:00			`## Manufacturers {#manufacturers}`

Update Content - 2021-03-14 2021-03-14 16:00:24 +01:00			`\| Manufacturers \| Country \|`
			`\|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------\|---------\|`
			`\| [PI](https://www.physikinstrumente.com/en/products/parallel-kinematic-hexapods/) \| Germany \|`
			`\| [Newport](https://www.newport.com/search/?q1=hexapod%3Arelevance%3Acompatibility%3AMETRIC%3AisObsolete%3Afalse%3A-excludeCountries%3AFR%3AnpCategory%3Ahexapods&ajax&text=hexapod) \| USA \|`
			`\| [Symetrie](https://symetrie.fr/en/hexapods-en/positioning-hexapods/) \| France \|`
			`\| [CSA Engineering](https://www.csaengineering.com/products-services/hexapod-positioning-systems/hexapod-models.html) \| USA \|`
			`\| [Aerotech](https://www.aerotech.com/product-catalog/hexapods.aspx) \| USA \|`
			`\| [SmarAct](https://www.smaract.com/smarpod) \| Germany \|`
			`\| [Gridbots](https://www.gridbots.com/hexamove.html) \| India \|`
			`\| [Alio Industries](https://www.alioindustries.com/) \| USA \|`
Update Content - 2024-05-24 2024-05-24 20:32:40 +02:00			`\| [MOOG](https://www.moog.com/products/hexapods-positioning-systems.html) \| \|`
Update Content - 2020-09-04 2020-09-04 15:42:37 +02:00

			`## Stewart Platforms at ESRF {#stewart-platforms-at-esrf}`

			`\| Beamline \| Manufacturer \| Comments \|`
			`\|----------\|--------------\|-----------------------------------\|`
			`\| ID11 \| Symetrie \| Small, Piezo based \|`
			`\| ID31 \| Symetrie \| Large Stroke, Encoders, DC motors \|`
			`\| ID01 \| PI \| \|`
			`\| ID16a \| ESRF \| Piezo (PI) \|`


Update all files with new citeproc-org package 2020-08-17 23:00:20 +02:00			`## Flexure Jointed Stewart Platforms {#flexure-jointed-stewart-platforms}`

			`Papers by J.E. McInroy:`

Update Content - 2024-05-24 2024-05-24 20:32:40 +02:00			`- <obrien98_lesson>`
			`- <mcinroy99_precis_fault_toler_point_using_stewar_platf>`
			`- <mcinroy99_dynam>`
			`- <mcinroy00_desig_contr_flexur_joint_hexap>`
			`- <chen00_ident_decoup_contr_flexur_joint_hexap>`
			`- <mcinroy02_model_desig_flexur_joint_stewar>`
			`- <li01_simul_vibrat_isolat_point_contr>`
			`- <lin03_adapt_sinus_distur_cancel_precis>`
			`- <jafari03_orthog_gough_stewar_platf_microm>`
			`- <chen04_decoup_contr_flexur_joint_hexap>`
Update Content - 2021-09-22 2021-09-22 16:00:00 +02:00
			`Main advantage of flexure jointed Stewart platforms over conventional (long stroke) ones:`

			`- Linear behavior`
			`- Constant Jacobian matrices along all stroke`
			`- No singularity`
			`- Easier to decouple the dynamics that works for all the stroke`
Update Content - 2021-05-02 2021-05-02 20:37:00 +02:00
Update all files with new citeproc-org package 2020-08-17 23:00:20 +02:00
			`## Bibliography {#bibliography}`

Update Content - 2024-05-24 2024-05-24 20:32:40 +02:00			`<./biblio/references.bib>`