2020-04-20 18:58:10 +02:00
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title = "Nanometre-cutting machine using a stewart-platform parallel mechanism"
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author = ["Thomas Dehaeze"]
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draft = false
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Tags
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: [Stewart Platforms]({{< relref "stewart_platforms" >}}), [Flexible Joints]({{< relref "flexible_joints" >}})
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Reference
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2020-08-17 21:59:26 +02:00
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: ([Furutani, Suzuki, and Kudoh 2004](#org934975a))
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2020-04-20 18:58:10 +02:00
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Author(s)
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: Furutani, K., Suzuki, M., & Kudoh, R.
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Year
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: 2004
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- Lever mechanism to amplify the motion of piezoelectric stack actuators
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- Use of flexure joints
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- Eddy current displacement sensors for control (decentralized)
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{{< figure src="/ox-hugo/furutani04_ctrl_arch.png" >}}
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- Isotropic performance (cubic configuration even if not said so)
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Possible sources of error:
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- position error of the link ends in assembly => simulation of position error and it is not significant
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- Inaccurate modelling of the links
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- insufficient generative force
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- unwanted deformation of the links
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To minimize the errors, a calibration is done between the required leg length and the wanted platform pose.
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Then, it is fitted with 4th order polynomial and included in the control architecture.
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2020-08-17 21:59:26 +02:00
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## Bibliography {#bibliography}
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<a id="org934975a"></a>Furutani, Katsushi, Michio Suzuki, and Ryusei Kudoh. 2004. “Nanometre-Cutting Machine Using a Stewart-Platform Parallel Mechanism.” _Measurement Science and Technology_ 15 (2):467–74. <https://doi.org/10.1088/0957-0233/15/2/022>.
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