7.0 KiB
7.0 KiB
+++ 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 |
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
Papers by J.E. McInroy:
- (O’Brien et al. 1998)
- (McInroy, O’Brien, and Neat 1999)
- (McInroy 1999)
- (McInroy and Hamann 2000)
- (Chen and McInroy 2000)
- (McInroy 2002)
- (Li, Hamann, and McInroy 2001)
- (Lin and McInroy 2003)
- (Jafari and McInroy 2003)
- (Chen and McInroy 2004)
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
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. doi:10.1109/tcst.2004.824339.
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. doi:10.1109/robot.2000.844878.
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. doi:10.1109/tra.2003.814506.
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. doi:10.1109/tcst.2003.809248.
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. doi:10.1117/12.436521.
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. doi:10.1109/cca.1999.806694.
———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” Ieee/Asme Transactions on Mechatronics 7 (1): 95–99. doi:10.1109/3516.990892.
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. doi:10.1109/70.864229.
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. doi:10.1109/3516.752089.
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. doi:10.1109/acc.1998.703532.