39 lines
1.7 KiB
Markdown
39 lines
1.7 KiB
Markdown
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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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: <sup id="bedab298599c84f60236313ebaad2714"><a href="#furutani04_nanom_cuttin_machin_using_stewar" title="Katsushi Furutani, Michio Suzuki \& Ryusei Kudoh, Nanometre-Cutting Machine Using a Stewart-Platform Parallel Mechanism, {Measurement Science and Technology}, v(2), 467-474 (2004).">(Katsushi Furutani {\it et al.}, 2004)</a></sup>
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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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# Bibliography
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<a id="furutani04_nanom_cuttin_machin_using_stewar"></a>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 [↩](#bedab298599c84f60236313ebaad2714)
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