Tags

Stewart Platforms, Flexible Joints

Reference

^{(Katsushi Furutani {\it et al.}, 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)

• 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

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 ↩