73 lines
7.0 KiB
Markdown
73 lines
7.0 KiB
Markdown
+++
|
||
title = "Stewart Platforms"
|
||
author = ["Dehaeze Thomas"]
|
||
draft = false
|
||
category = "equipment"
|
||
+++
|
||
|
||
Tags
|
||
:
|
||
|
||
|
||
## Manufacturers {#manufacturers}
|
||
|
||
| Manufacturers | Country |
|
||
|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------|
|
||
| [PI](https://www.physikinstrumente.com/en/products/parallel-kinematic-hexapods/) | Germany |
|
||
| [Newport](https://www.newport.com/search/?q1=hexapod%3Arelevance%3Acompatibility%3AMETRIC%3AisObsolete%3Afalse%3A-excludeCountries%3AFR%3AnpCategory%3Ahexapods&ajax&text=hexapod) | USA |
|
||
| [Symetrie](https://symetrie.fr/en/hexapods-en/positioning-hexapods/) | France |
|
||
| [CSA Engineering](https://www.csaengineering.com/products-services/hexapod-positioning-systems/hexapod-models.html) | USA |
|
||
| [Aerotech](https://www.aerotech.com/product-catalog/hexapods.aspx) | USA |
|
||
| [SmarAct](https://www.smaract.com/smarpod) | Germany |
|
||
| [Gridbots](https://www.gridbots.com/hexamove.html) | India |
|
||
| [Alio Industries](https://www.alioindustries.com/) | USA |
|
||
|
||
|
||
## Stewart Platforms at ESRF {#stewart-platforms-at-esrf}
|
||
|
||
| Beamline | Manufacturer | Comments |
|
||
|----------|--------------|-----------------------------------|
|
||
| ID11 | Symetrie | Small, Piezo based |
|
||
| ID31 | Symetrie | Large Stroke, Encoders, DC motors |
|
||
| ID01 | PI | |
|
||
| ID16a | ESRF | Piezo (PI) |
|
||
|
||
|
||
## Flexure Jointed Stewart Platforms {#flexure-jointed-stewart-platforms}
|
||
|
||
Papers by J.E. McInroy:
|
||
|
||
- (<a href="#citeproc_bib_item_10">O’Brien et al. 1998</a>)
|
||
- (<a href="#citeproc_bib_item_9">McInroy, O’Brien, and Neat 1999</a>)
|
||
- (<a href="#citeproc_bib_item_6">McInroy 1999</a>)
|
||
- (<a href="#citeproc_bib_item_8">McInroy and Hamann 2000</a>)
|
||
- (<a href="#citeproc_bib_item_2">Chen and McInroy 2000</a>)
|
||
- (<a href="#citeproc_bib_item_7">McInroy 2002</a>)
|
||
- (<a href="#citeproc_bib_item_5">Li, Hamann, and McInroy 2001</a>)
|
||
- (<a href="#citeproc_bib_item_4">Lin and McInroy 2003</a>)
|
||
- (<a href="#citeproc_bib_item_3">Jafari and McInroy 2003</a>)
|
||
- (<a href="#citeproc_bib_item_1">Chen and McInroy 2004</a>)
|
||
|
||
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
|
||
|
||
|
||
## Bibliography {#bibliography}
|
||
|
||
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
|
||
<div class="csl-entry"><a id="citeproc_bib_item_1"></a>Chen, Y., and J.E. McInroy. 2004. “Decoupled Control of Flexure-Jointed Hexapods Using Estimated Joint-Space Mass-Inertia Matrix.” <i>Ieee Transactions on Control Systems Technology</i> 12 (3): 413–21. doi:<a href="https://doi.org/10.1109/tcst.2004.824339">10.1109/tcst.2004.824339</a>.</div>
|
||
<div class="csl-entry"><a id="citeproc_bib_item_2"></a>Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In <i>Proceedings 2000 Icra. Millennium Conference. Ieee International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00ch37065)</i>, nil. doi:<a href="https://doi.org/10.1109/robot.2000.844878">10.1109/robot.2000.844878</a>.</div>
|
||
<div class="csl-entry"><a id="citeproc_bib_item_3"></a>Jafari, F., and J.E. McInroy. 2003. “Orthogonal Gough-Stewart Platforms for Micromanipulation.” <i>Ieee Transactions on Robotics and Automation</i> 19 (4). Institute of Electrical and Electronics Engineers (IEEE): 595–603. doi:<a href="https://doi.org/10.1109/tra.2003.814506">10.1109/tra.2003.814506</a>.</div>
|
||
<div class="csl-entry"><a id="citeproc_bib_item_4"></a>Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” <i>Ieee Transactions on Control Systems Technology</i> 11 (2): 267–72. doi:<a href="https://doi.org/10.1109/tcst.2003.809248">10.1109/tcst.2003.809248</a>.</div>
|
||
<div class="csl-entry"><a id="citeproc_bib_item_5"></a>Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In <i>Smart Structures and Materials 2001: Smart Structures and Integrated Systems</i>, nil. doi:<a href="https://doi.org/10.1117/12.436521">10.1117/12.436521</a>.</div>
|
||
<div class="csl-entry"><a id="citeproc_bib_item_6"></a>McInroy, J.E. 1999. “Dynamic Modeling of Flexure Jointed Hexapods for Control Purposes.” In <i>Proceedings of the 1999 Ieee International Conference on Control Applications (Cat. No.99ch36328)</i>, nil. doi:<a href="https://doi.org/10.1109/cca.1999.806694">10.1109/cca.1999.806694</a>.</div>
|
||
<div class="csl-entry"><a id="citeproc_bib_item_7"></a>———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” <i>Ieee/Asme Transactions on Mechatronics</i> 7 (1): 95–99. doi:<a href="https://doi.org/10.1109/3516.990892">10.1109/3516.990892</a>.</div>
|
||
<div class="csl-entry"><a id="citeproc_bib_item_8"></a>McInroy, J.E., and J.C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” <i>Ieee Transactions on Robotics and Automation</i> 16 (4): 372–81. doi:<a href="https://doi.org/10.1109/70.864229">10.1109/70.864229</a>.</div>
|
||
<div class="csl-entry"><a id="citeproc_bib_item_9"></a>McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” <i>Ieee/Asme Transactions on Mechatronics</i> 4 (1): 91–95. doi:<a href="https://doi.org/10.1109/3516.752089">10.1109/3516.752089</a>.</div>
|
||
<div class="csl-entry"><a id="citeproc_bib_item_10"></a>O’Brien, J.F., J.E. McInroy, D. Bodtke, M. Bruch, and J.C. Hamann. 1998. “Lessons Learned in Nonlinear Systems and Flexible Robots through Experiments on a 6 Legged Platform.” In <i>Proceedings of the 1998 American Control Conference. Acc (Ieee Cat. No.98ch36207)</i>, nil. doi:<a href="https://doi.org/10.1109/acc.1998.703532">10.1109/acc.1998.703532</a>.</div>
|
||
</div>
|