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Thomas Dehaeze 2024-06-04 14:54:37 +02:00
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content/zettels/stewart_platforms.md
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@ -34,29 +34,6 @@ Tags
| 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
## Built Stewart PLatforms {#built-stewart-platforms}
<span class="org-target" id="org-target--sec-built"></span>