1.6 KiB
1.6 KiB
+++ 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
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style>Furutani, Katsushi, Michio Suzuki, and Ryusei Kudoh. 2004. “Nanometre-Cutting Machine Using a Stewart-Platform Parallel Mechanism.” Measurement Science and Technology 15 (2): 467–74. doi:10.1088/0957-0233/15/2/022.