226 lines
8.4 KiB
HTML
226 lines
8.4 KiB
HTML
<!DOCTYPE html>
|
||
<html lang="en">
|
||
<head>
|
||
<meta charset="utf-8">
|
||
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
|
||
<title>Nanometre-cutting machine using a stewart-platform parallel mechanism - My digital brain</title>
|
||
<meta name="renderer" content="webkit" />
|
||
<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1"/>
|
||
|
||
<meta http-equiv="Cache-Control" content="no-transform" />
|
||
<meta http-equiv="Cache-Control" content="no-siteapp" />
|
||
|
||
<meta name="theme-color" content="#f8f5ec" />
|
||
<meta name="msapplication-navbutton-color" content="#f8f5ec">
|
||
<meta name="apple-mobile-web-app-capable" content="yes">
|
||
<meta name="apple-mobile-web-app-status-bar-style" content="#f8f5ec">
|
||
|
||
|
||
<meta name="author" content="
|
||
|
||
|
||
—
|
||
|
||
Thomas Dehaeze
|
||
|
||
|
||
|
||
" /><meta name="description" content="Tags Stewart Platforms, Flexible Joints Reference (Katsushi Furutani {\it et al.}, 2004) Author(s) Furutani, K., Suzuki, M., &amp; 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) Isotropic performance (cubic configuration even if not said so) Possible sources of error:
|
||
position error of the link ends in assembly =&gt; 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." />
|
||
<link rel="canonical" href="/paper/furutani04_nanom_cuttin_machin_using_stewar/" />
|
||
<link rel="icon" type="image/png" sizes="32x32" href="/favicon-32x32.png">
|
||
<link rel="icon" type="image/png" sizes="16x16" href="/favicon-16x16.png">
|
||
|
||
|
||
|
||
<link href="/sass/main.min.47a894bd6354cc46903f62433747958dc936e1c95c28a76ac80319bca9708ed1.css" rel="stylesheet">
|
||
|
||
|
||
|
||
|
||
</head>
|
||
<body>
|
||
<div id="mobile-navbar" class="mobile-navbar">
|
||
<div class="mobile-header-logo">
|
||
<a href="/" class="logo">Digital Brain</a>
|
||
</div>
|
||
<div class="mobile-navbar-icon">
|
||
<span></span>
|
||
<span></span>
|
||
<span></span>
|
||
</div>
|
||
</div>
|
||
<nav id="mobile-menu" class="mobile-menu slideout-menu">
|
||
<ul class="mobile-menu-list">
|
||
<a href="/">
|
||
<li class="mobile-menu-item">Home</li>
|
||
</a><a href="/zettels/">
|
||
<li class="mobile-menu-item">Zettels</li>
|
||
</a><a href="/book/">
|
||
<li class="mobile-menu-item">Books</li>
|
||
</a><a href="/paper/">
|
||
<li class="mobile-menu-item">Papers</li>
|
||
</a><a href="/search/">
|
||
<li class="mobile-menu-item">Search</li>
|
||
</a>
|
||
</ul>
|
||
</nav>
|
||
<div class="container" id="mobile-panel">
|
||
<header id="header" class="header">
|
||
<div class="logo-wrapper">
|
||
<a href="/" class="logo">Digital Brain</a>
|
||
</div>
|
||
|
||
<nav class="site-navbar">
|
||
<ul id="menu" class="menu">
|
||
<li class="menu-item">
|
||
<a class="menu-item-link" href="/">Home</a>
|
||
</li><li class="menu-item">
|
||
<a class="menu-item-link" href="/zettels/">Zettels</a>
|
||
</li><li class="menu-item">
|
||
<a class="menu-item-link" href="/book/">Books</a>
|
||
</li><li class="menu-item">
|
||
<a class="menu-item-link" href="/paper/">Papers</a>
|
||
</li><li class="menu-item">
|
||
<a class="menu-item-link" href="/search/">Search</a>
|
||
</li>
|
||
</ul>
|
||
</nav>
|
||
|
||
</header>
|
||
|
||
<main id="main" class="main">
|
||
<div class="content-wrapper">
|
||
<div id="content" class="content">
|
||
<article class="post">
|
||
|
||
<header class="post-header">
|
||
<h1 class="post-title">Nanometre-cutting machine using a stewart-platform parallel mechanism</h1>
|
||
</header>
|
||
|
||
<div class="post-toc" id="post-toc">
|
||
<h2 class="post-toc-title">Contents</h2>
|
||
<div class="post-toc-content">
|
||
<nav id="TableOfContents"></nav>
|
||
</div>
|
||
</div>
|
||
<div class="post-content">
|
||
<dl>
|
||
<dt>Tags</dt>
|
||
<dd><a href="/zettels/stewart_platforms/">Stewart Platforms</a>, <a href="/zettels/flexible_joints/">Flexible Joints</a></dd>
|
||
<dt>Reference</dt>
|
||
<dd><sup id="bedab298599c84f60236313ebaad2714"><a href="#furutani04_nanom_cuttin_machin_using_stewar" title="Katsushi Furutani, Michio Suzuki \& Ryusei Kudoh, Nanometre-Cutting Machine Using a Stewart-Platform Parallel Mechanism, {Measurement Science and Technology}, v(2), 467-474 (2004).">(Katsushi Furutani {\it et al.}, 2004)</a></sup></dd>
|
||
<dt>Author(s)</dt>
|
||
<dd>Furutani, K., Suzuki, M., & Kudoh, R.</dd>
|
||
<dt>Year</dt>
|
||
<dd>2004</dd>
|
||
</dl>
|
||
<ul>
|
||
<li>Lever mechanism to amplify the motion of piezoelectric stack actuators</li>
|
||
<li>Use of flexure joints</li>
|
||
<li>Eddy current displacement sensors for control (decentralized)</li>
|
||
</ul>
|
||
<figure>
|
||
<img src="/ox-hugo/furutani04_ctrl_arch.png"/>
|
||
</figure>
|
||
|
||
<ul>
|
||
<li>Isotropic performance (cubic configuration even if not said so)</li>
|
||
</ul>
|
||
<p>Possible sources of error:</p>
|
||
<ul>
|
||
<li>position error of the link ends in assembly => simulation of position error and it is not significant</li>
|
||
<li>Inaccurate modelling of the links</li>
|
||
<li>insufficient generative force</li>
|
||
<li>unwanted deformation of the links</li>
|
||
</ul>
|
||
<p>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.</p>
|
||
<h1 id="bibliography">Bibliography</h1>
|
||
<p><a id="furutani04_nanom_cuttin_machin_using_stewar"></a>Furutani, K., Suzuki, M., & Kudoh, R., <em>Nanometre-cutting machine using a stewart-platform parallel mechanism</em>, Measurement Science and Technology, <em>15(2)</em>, 467–474 (2004). <a href="http://dx.doi.org/10.1088/0957-0233/15/2/022">http://dx.doi.org/10.1088/0957-0233/15/2/022</a> <a href="#bedab298599c84f60236313ebaad2714">↩</a></p>
|
||
|
||
</div>
|
||
|
||
<footer class="post-footer">
|
||
|
||
<nav class="post-nav">
|
||
<a class="prev" href="/paper/gao15_measur_techn_precis_posit/">
|
||
<i class="iconfont icon-left"></i>
|
||
<span class="prev-text nav-default">Measurement technologies for precision positioning</span>
|
||
<span class="prev-text nav-mobile">Prev</span>
|
||
</a>
|
||
<a class="next" href="/paper/fleming10_nanop_system_with_force_feedb/">
|
||
<span class="next-text nav-default">Nanopositioning system with force feedback for high-performance tracking and vibration control</span>
|
||
<span class="next-text nav-mobile">Next</span>
|
||
<i class="iconfont icon-right"></i>
|
||
</a>
|
||
</nav>
|
||
</footer>
|
||
</article>
|
||
</div>
|
||
</div>
|
||
</main>
|
||
|
||
<footer id="footer" class="footer">
|
||
<div class="social-links">
|
||
<a href="mailto:dehaeze.thomas@gmail.com" class="iconfont icon-email" title="email"></a>
|
||
<a href="https://github.com/tdehaeze/" class="iconfont icon-github" title="github"></a>
|
||
<a href="/index.xml" type="application/rss+xml" class="iconfont icon-rss" title="rss"></a>
|
||
</div>
|
||
|
||
<div class="copyright">
|
||
<span class="power-by">
|
||
Powered by <a class="hexo-link" href="https://gohugo.io">Hugo</a>
|
||
</span>
|
||
|
||
<span class="copyright-year">
|
||
©
|
||
2020
|
||
<span class="heart">
|
||
<i class="iconfont icon-heart"></i>
|
||
</span>
|
||
<span class="author">Thomas Dehaeze</span>
|
||
</span>
|
||
</div>
|
||
|
||
</footer>
|
||
|
||
<div class="back-to-top" id="back-to-top">
|
||
<i class="iconfont icon-up"></i>
|
||
</div>
|
||
</div>
|
||
|
||
<script src="https://cdn.jsdelivr.net/npm/jquery@3.2.1/dist/jquery.min.js" integrity="sha256-hwg4gsxgFZhOsEEamdOYGBf13FyQuiTwlAQgxVSNgt4=" crossorigin="anonymous"></script>
|
||
<script src="https://cdn.jsdelivr.net/npm/slideout@1.0.1/dist/slideout.min.js" integrity="sha256-t+zJ/g8/KXIJMjSVQdnibt4dlaDxc9zXr/9oNPeWqdg=" crossorigin="anonymous"></script>
|
||
|
||
|
||
<script type="text/javascript" src="/js/main.4bada4f824623eea2eb7cfd5cf8c1d99c3dd797297e7e8cbc59a41da450bb334.js"></script>
|
||
|
||
|
||
<script type="text/javascript">
|
||
window.MathJax = {
|
||
loader: {
|
||
load: ['[tex]/ams']
|
||
},
|
||
tex: {
|
||
inlineMath: [
|
||
['$','$'], ['\\(','\\)']
|
||
],
|
||
tags: 'ams',
|
||
packages: {'[+]': ['ams']},
|
||
}
|
||
};
|
||
</script>
|
||
|
||
<script async src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" crossorigin="anonymous"></script>
|
||
|
||
<script src="https://cdnjs.cloudflare.com/ajax/libs/fuse.js/3.2.0/fuse.min.js"></script>
|
||
<script src="https://cdnjs.cloudflare.com/ajax/libs/mark.js/8.11.1/jquery.mark.min.js"></script>
|
||
<script type="text/javascript" src="/lib/search/search.js"></script>
|
||
|
||
|
||
|
||
|
||
</body>
|
||
</html>
|