80 lines
5.9 KiB
Markdown
80 lines
5.9 KiB
Markdown
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title = "Stewart Platforms"
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author = ["Thomas Dehaeze"]
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draft = false
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Tags
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:
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## Manufacturers {#manufacturers}
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| Manufacturers | Country |
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|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------|
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| [PI](https://www.physikinstrumente.com/en/products/parallel-kinematic-hexapods/) | Germany |
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| [Newport](https://www.newport.com/search/?q1=hexapod%3Arelevance%3Acompatibility%3AMETRIC%3AisObsolete%3Afalse%3A-excludeCountries%3AFR%3AnpCategory%3Ahexapods&ajax&text=hexapod) | USA |
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| [Symetrie](https://symetrie.fr/en/hexapods-en/positioning-hexapods/) | France |
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| [CSA Engineering](https://www.csaengineering.com/products-services/hexapod-positioning-systems/hexapod-models.html) | USA |
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| [Aerotech](https://www.aerotech.com/product-catalog/hexapods.aspx) | USA |
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| [SmarAct](https://www.smaract.com/smarpod) | Germany |
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| [Gridbots](https://www.gridbots.com/hexamove.html) | India |
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| [Alio Industries](https://www.alioindustries.com/) | USA |
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## Stewart Platforms at ESRF {#stewart-platforms-at-esrf}
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| Beamline | Manufacturer | Comments |
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|----------|--------------|-----------------------------------|
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| ID11 | Symetrie | Small, Piezo based |
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| ID31 | Symetrie | Large Stroke, Encoders, DC motors |
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| ID01 | PI | |
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| ID16a | ESRF | Piezo (PI) |
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## Flexure Jointed Stewart Platforms {#flexure-jointed-stewart-platforms}
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Papers by J.E. McInroy:
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- ([O’Brien et al. 1998](#org4f530c8))
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- ([McInroy, O’Brien, and Neat 1999](#orgc2500da))
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- ([McInroy 1999](#orgf6f13f1))
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- ([McInroy and Hamann 2000](#org353671a))
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- ([Chen and McInroy 2000](#orgf235207))
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- ([McInroy 2002](#org5be7775))
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- ([Li, Hamann, and McInroy 2001](#orgdc37806))
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- ([Lin and McInroy 2003](#orge3fb031))
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- ([Jafari and McInroy 2003](#orge70feb2))
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- ([Chen and McInroy 2004](#org8ae8169))
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Main advantage of flexure jointed Stewart platforms over conventional (long stroke) ones:
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- Linear behavior
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- Constant Jacobian matrices along all stroke
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- No singularity
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- Easier to decouple the dynamics that works for all the stroke
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## Bibliography {#bibliography}
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<a id="org8ae8169"></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):413–21. <https://doi.org/10.1109/tcst.2004.824339>.
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<a id="orgf235207"></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>.
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<a id="orge70feb2"></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):595–603. <https://doi.org/10.1109/tra.2003.814506>.
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<a id="orge3fb031"></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):267–72. <https://doi.org/10.1109/tcst.2003.809248>.
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<a id="orgdc37806"></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>.
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<a id="orgf6f13f1"></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>.
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<a id="org5be7775"></a>———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” _IEEE/ASME Transactions on Mechatronics_ 7 (1):95–99. <https://doi.org/10.1109/3516.990892>.
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<a id="org353671a"></a>McInroy, J.E., and J.C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” _IEEE Transactions on Robotics and Automation_ 16 (4):372–81. <https://doi.org/10.1109/70.864229>.
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<a id="orgc2500da"></a>McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” _IEEE/ASME Transactions on Mechatronics_ 4 (1):91–95. <https://doi.org/10.1109/3516.752089>.
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<a id="org4f530c8"></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 _Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)_, nil. <https://doi.org/10.1109/acc.1998.703532>.
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