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—
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Thomas Dehaeze
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" /><meta name="description" content="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:
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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 To minimize the errors, a calibration is done between the required leg length and the wanted platform pose." />
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<h1 class="post-title">Nanometre-cutting machine using a stewart-platform parallel mechanism</h1>
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</header>
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<dl>
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<dt>Tags</dt>
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<dd><a href="/zettels/stewart_platforms/">Stewart Platforms</a>, <a href="/zettels/flexible_joints/">Flexible Joints</a></dd>
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<dt>Reference</dt>
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<dd><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></dd>
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<dt>Author(s)</dt>
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<dd>Furutani, K., Suzuki, M., & Kudoh, R.</dd>
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<dt>Year</dt>
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<dd>2004</dd>
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</dl>
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<ul>
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<li>Lever mechanism to amplify the motion of piezoelectric stack actuators</li>
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<li>Use of flexure joints</li>
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<li>Eddy current displacement sensors for control (decentralized)</li>
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</ul>
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<figure>
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<img src="/ox-hugo/furutani04_ctrl_arch.png"/>
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</figure>
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<ul>
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<li>Isotropic performance (cubic configuration even if not said so)</li>
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</ul>
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<p>Possible sources of error:</p>
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<ul>
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<li>position error of the link ends in assembly => simulation of position error and it is not significant</li>
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<li>Inaccurate modelling of the links</li>
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<li>insufficient generative force</li>
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<li>unwanted deformation of the links</li>
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</ul>
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<p>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.</p>
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<h1 id="bibliography">Bibliography</h1>
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<p><a id="furutani04_nanom_cuttin_machin_using_stewar"></a>Furutani, K., Suzuki, M., & Kudoh, R., <em>Nanometre-cutting machine using a stewart-platform parallel mechanism</em>, Measurement Science and Technology, <em>15(2)</em>, 467–474 (2004). <a href="http://dx.doi.org/10.1088/0957-0233/15/2/022">http://dx.doi.org/10.1088/0957-0233/15/2/022</a> <a href="#bedab298599c84f60236313ebaad2714">↩</a></p>
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