1.7 KiB
1.7 KiB
+++ title = "Nanometre-cutting machine using a stewart-platform parallel mechanism" author = ["Thomas Dehaeze"] draft = false +++
- Tags
- [Stewart Platforms]({{< relref "stewart_platforms" >}}), [Flexible Joints]({{< relref "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)
{{< 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
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 ↩