digital-brain/content/zettels/stewart_platforms.md

+++ title = "Stewart Platforms" author = ["Dehaeze Thomas"] draft = false category = "equipment" +++

Tags :

Manufacturers

Manufacturers	Country
PI	Germany
Newport	USA
Symetrie	France
CSA Engineering	USA
Aerotech	USA
SmarAct	Germany
Gridbots	India
Alio Industries	USA
MOOG

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)

Built Stewart PLatforms

Actuators:

• Short Stroke: PZT, Voice Coil, Magnetostrictive
• Long Stroke: DC, AC, Servo + Ball Screw, Inchworm

Joints:

• Flexible: usually for short stroke
• Conventional

Sensors:

• Force Sensors
• Relative Motion Sensors: Encoders, LVDT
• Strain Gauge
• Inertial Sensors (Geophone, Accelerometer)
• External Metrology

Short Stroke

University	Figure	Configuration	Joints	Actuators	Sensors	Application	Link to bibliography
JPL	5	Cubic	Flexible	Voice Coil (0.5 mm)	Force (collocated)		<spanos95_soft_activ_vibrat_isolat>, <rahman98_multiax> Vibration Isolation (Space)
Washinton, JPL	16	Cubic	Elastomers	Voice Coil (10 mm)	Force, LVDT, Geophones	Isolation + Pointing (Space)	<thayer98_stewar>, <thayer02_six_axis_vibrat_isolat_system>, <hauge04_sensor_contr_space_based_six>
Wyoming	17	Cubic (CoM=CoK)	Flexible	Voice Coil	Force		<mcinroy99_dynam>, <mcinroy99_precis_fault_toler_point_using_stewar_platf>, <mcinroy00_desig_contr_flexur_joint_hexap>, <li01_simul_vibrat_isolat_point_contr>, <jafari03_orthog_gough_stewar_platf_microm>
Brussels	21	Cubic	Flexible	Voice Coil	Force	Vibration Isolation	<hanieh03_activ_stewar>, <preumont07_six_axis_singl_stage_activ>
SRDC	2	Not Cubic	Ball joints	Voice Coil (10 mm)			<taranti01_effic_algor_vibrat_suppr>
SRDC	18	Non-Cubic	Flexible	Voice Coil	Accelerometers, External metrology: Eddy Current + optical	Pointing	<chen03_payload_point_activ_vibrat_isolat>
Harbin (China)	13	Cubic	Flexible	Voice Coil	Accelerometer in each leg		<chi15_desig_exper_study_vcm_based>, <tang18_decen_vibrat_contr_voice_coil>, <jiao18_dynam_model_exper_analy_stewar>
Einhoven	9	Almost cubic	Flexible	Voice Coil	Force Sensor + Accelerometer	Vibration Isolation	<beijen18_self_tunin_mimo_distur_feedf>, <tjepkema12_activ_ph>
JPL	4	Cubic (6-UPU)	Flexible	Magnetostrictive	Force (collocated), Accelerometers	Vibration Isolation	<geng93_six_degree_of_freed_activ>, <geng94_six_degree_of_freed_activ>, <geng95_intel_contr_system_multip_degree>
China	10	Non-cubic	Flexible	Magnetostrictive	Inertial		<zhang11_six_dof>
Brussels	20	Cubic	Flexible	Piezoelectric, Amplified	Piezo Force	Active Damping	<abu02_stiff_soft_stewar_platf_activ>
SRDC	19	Cubic		Piezoelectric (50 um)	Geophone	Vibration	<agrawal04_algor_activ_vibrat_isolat_spacec>
Taiwan	14	Cubic	Flexible	Piezoelectric (120 um)	External capacitive		<ting06_desig_stewar_nanos_platf>, <ting13_compos_contr_desig_stewar_nanos_platf>
Taiwan	15	Non-Cubic	Flexible	Piezoelectric (160 um)	External capacitive (LION)		<ting07_measur_calib_stewar_microm_system>
Harbin (China)	12	6-SPS (Optimized)	Flexible	Piezoelectric	Strain Gauge		<du14_piezo_actuat_high_precis_flexib>
Japan	6	Non-Cubic	Flexible	Piezoelectric (16 um)	Eddy Current Displacement Sensors	Cutting machine	<furutani04_nanom_cuttin_machin_using_stewar>
China	11	6-UPS (Cubic?)	Flexible	Piezoelectric	Force, Position		<yang19_dynam_model_decoup_contr_flexib>
Shangai	8	Cubic	Flexible	Piezoelectric	Force Sensor + Accelerometer		<wang16_inves_activ_vibrat_isolat_stewar>
Matra (France)	3	Cubic	Flexible	Piezoelectric (25 um)	Piezo force sensors	Vibration control	<defendini00_techn>
Japan	7	Non-Cubic	Flexible	Inchworm			<torii12_small_size_self_propel_stewar_platf>
Netherlands	1	Non-Cubic	Flexible	3-phase rotary motor	Rotary Encoders		<&naves20_desig;&naves20_t_flex>

{{< figure src="/ox-hugo/stewart_naves.jpg" caption="<span class="figure-number">Figure 1: T-flex <&naves20_desig>" >}}

{{< figure src="/ox-hugo/stewart_naval.jpg" caption="<span class="figure-number">Figure 2: <&taranti01_effic_algor_vibrat_suppr>" >}}

{{< figure src="/ox-hugo/stewart_mais.jpg" caption="<span class="figure-number">Figure 3: <&defendini00_techn>" >}}

{{< figure src="/ox-hugo/stewart_geng.jpg" caption="<span class="figure-number">Figure 4: <&geng94_six_degree_of_freed_activ>" >}}

{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="<span class="figure-number">Figure 5: <&spanos95_soft_activ_vibrat_isolat>" >}}

{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="<span class="figure-number">Figure 6: <&furutani04_nanom_cuttin_machin_using_stewar>" >}}

{{< figure src="/ox-hugo/stewart_torii.jpg" caption="<span class="figure-number">Figure 7: <&torii12_small_size_self_propel_stewar_platf>" >}}

{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="<span class="figure-number">Figure 8: <&wang16_inves_activ_vibrat_isolat_stewar>" >}}

{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="<span class="figure-number">Figure 9: <&beijen18_self_tunin_mimo_distur_feedf>" >}}

{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="<span class="figure-number">Figure 10: <&zhang11_six_dof>" >}}

{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="<span class="figure-number">Figure 11: <&yang19_dynam_model_decoup_contr_flexib>" >}}

{{< figure src="/ox-hugo/stewart_du14.jpg" caption="<span class="figure-number">Figure 12: <&du14_piezo_actuat_high_precis_flexib>" >}}

{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="<span class="figure-number">Figure 13: <&tang18_decen_vibrat_contr_voice_coil>" >}}

{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="<span class="figure-number">Figure 14: <&ting06_desig_stewar_nanos_platf>" >}}

{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="<span class="figure-number">Figure 15: <&ting07_measur_calib_stewar_microm_system>" >}}

{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="<span class="figure-number">Figure 16: Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions <&thayer02_six_axis_vibrat_isolat_system>" >}}

{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="<span class="figure-number">Figure 17: UW GSP: Mutually Orthogonal Stewart Geometry <&li01_simul_fault_vibrat_isolat_point>" >}}

{{< figure src="/ox-hugo/stewart_pph.jpg" caption="<span class="figure-number">Figure 18: Precision Pointing Hexapod (PPH) <&chen03_payload_point_activ_vibrat_isolat>" >}}

{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="<span class="figure-number">Figure 19: Ultra Quiet Platform (UQP) <&agrawal04_algor_activ_vibrat_isolat_spacec>" >}}

{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="<span class="figure-number">Figure 20: ULB - Piezoelectric <&abu02_stiff_soft_stewar_platf_activ>" >}}

{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="<span class="figure-number">Figure 21: ULB - Voice Coil <&hanieh03_activ_stewar>" >}}

Long Stroke

University	Figure	Configuration	Joints	Actuators	Sensors	Link to bibliography
Japan	22	6-UPS	Conventional	DC, gear + rack pinion	Encoder, 7um res	<cleary91_protot_paral_manip>
Seoul	23	Non-Cubic	Conventional	Hydraulic	LVDT	<kim00_robus_track_contr_desig_dof_paral_manip>
Xidian (China)	24	Non-Cubic	Conventional	Servo Motor + Screwball	Encoder	<su04_distur_rejec_high_precis_motion>
Czech	25	6-UPS	Conventional	DC, Ball Screw	Absolute Linear position	<brezina08_ni_labview_matlab_simmec_stewar_platf_desig>, <houska10_desig_implem_absol_linear_posit>, <brezina10_contr_desig_stewar_platf_linear_actuat>

{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="<span class="figure-number">Figure 22: <&cleary91_protot_paral_manip>" >}}

{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="<span class="figure-number">Figure 23: <&kim01_six>" >}}

{{< figure src="/ox-hugo/stewart_su04.jpg" caption="<span class="figure-number">Figure 24: <&su04_distur_rejec_high_precis_motion>" >}}

{{< figure src="/ox-hugo/stewart_czech.jpg" caption="<span class="figure-number">Figure 25: Stewart platform from Brno University (Czech) <&brezina08_ni_labview_matlab_simmec_stewar_platf_desig>" >}}

Bibliography

<./biblio/references.bib>