+++ title = "Nanometre-cutting machine using a stewart-platform parallel mechanism" author = ["Dehaeze Thomas"] draft = false +++ Tags : [Stewart Platforms]({{< relref "stewart_platforms.md" >}}), [Flexible Joints]({{< relref "flexible_joints.md" >}}) Reference : (Furutani, Suzuki, and Kudoh 2004) Author(s) : Furutani, K., Suzuki, M., & 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) {{< figure src="/ox-hugo/furutani04_ctrl_arch.png" >}} - Isotropic performance (cubic configuration even if not said so) Possible sources of error: - position error of the link ends in assembly => 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. Then, it is fitted with 4th order polynomial and included in the control architecture. ## Bibliography {#bibliography}