digital-brain/content/zettels/stewart_platforms.md

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title = "Stewart Platforms"
author = ["Thomas Dehaeze"]
draft = false
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## 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:
- ([OBrien et al. 1998](#orgf349082))
- ([McInroy, OBrien, and Neat 1999](#org5767dd1))
- ([McInroy 1999](#org2c21b8d))
- ([McInroy and Hamann 2000](#org4297441))
- ([Chen and McInroy 2000](#org8bb7a6a))
- ([McInroy 2002](#org9b28444))
- ([Li, Hamann, and McInroy 2001](#orgf3f89be))
- ([Lin and McInroy 2003](#org950f17b))
- ([Jafari and McInroy 2003](#orge2968a9))
- ([Chen and McInroy 2004](#org5ac50ad))
## Bibliography {#bibliography}
<a id="org5ac50ad"></a>Chen, Y., and J.E. McInroy. 2004. “Decoupled Control of Flexure-Jointed Hexapods Using Estimated Joint-Space Mass-Inertia Matrix.” _IEEE Transactions on Control Systems Technology_ 12 (3):41321. <https://doi.org/10.1109/tcst.2004.824339>.
<a id="org8bb7a6a"></a>Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In _Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)_, nil. <https://doi.org/10.1109/robot.2000.844878>.
<a id="orge2968a9"></a>Jafari, F., and J.E. McInroy. 2003. “Orthogonal Gough-Stewart Platforms for Micromanipulation.” _IEEE Transactions on Robotics and Automation_ 19 (4). Institute of Electrical and Electronics Engineers (IEEE):595603. <https://doi.org/10.1109/tra.2003.814506>.
<a id="org950f17b"></a>Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” _IEEE Transactions on Control Systems Technology_ 11 (2):26772. <https://doi.org/10.1109/tcst.2003.809248>.
<a id="orgf3f89be"></a>Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In _Smart Structures and Materials 2001: Smart Structures and Integrated Systems_, nil. <https://doi.org/10.1117/12.436521>.
<a id="org2c21b8d"></a>McInroy, J.E. 1999. “Dynamic Modeling of Flexure Jointed Hexapods for Control Purposes.” In _Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)_, nil. <https://doi.org/10.1109/cca.1999.806694>.
<a id="org9b28444"></a>———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” _IEEE/ASME Transactions on Mechatronics_ 7 (1):9599. <https://doi.org/10.1109/3516.990892>.
<a id="org4297441"></a>McInroy, J.E., and J.C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” _IEEE Transactions on Robotics and Automation_ 16 (4):37281. <https://doi.org/10.1109/70.864229>.
<a id="org5767dd1"></a>McInroy, J.E., J.F. OBrien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” _IEEE/ASME Transactions on Mechatronics_ 4 (1):9195. <https://doi.org/10.1109/3516.752089>.
<a id="orgf349082"></a>OBrien, 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 _Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)_, nil. <https://doi.org/10.1109/acc.1998.703532>.