tdehaeze committed
1 parent
665774dd08
commit
432702d1a4
40 files changed
+397
-646
No files matched your search
@@ -35,9 +35,7 @@ Tags
|
||||
| ID16a | ESRF | Piezo (PI) |
|
||||
|
||||
|
||||
## Built Stewart PLatforms {#built-stewart-platforms}
|
||||
|
||||
<span class="org-target" id="org-target--sec-built"></span>
|
||||
## Built Stewart PLatforms {#sec:built}
|
||||
|
||||
**Actuators**:
|
||||
|
||||
@@ -58,9 +56,7 @@ Tags
|
||||
- External Metrology
|
||||
|
||||
|
||||
### Short Stroke {#short-stroke}
|
||||
|
||||
<span class="org-target" id="org-target--sec-built-short-stroke"></span>
|
||||
### Short Stroke {#sec:built_short_stroke}
|
||||
|
||||
| University | Figure | Configuration | Joints | Actuators | Sensors | Application | Link to bibliography |
|
||||
|----------------|---------------------------------------------|-------------------|-------------|--------------------------|------------------------------------------------------------|------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
|
||||
@@ -171,9 +167,7 @@ Tags
|
||||
{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="<span class='figure-number'>Figure 21: </span>ULB - Voice Coil <&hanieh03_activ_stewar>" >}}
|
||||
|
||||
|
||||
### Long Stroke {#long-stroke}
|
||||
|
||||
<span class="org-target" id="org-target--sec-built-long-stroke"></span>
|
||||
### Long Stroke {#sec:built_long_stroke}
|
||||
|
||||
| University | Figure | Configuration | Joints | Actuators | Sensors | Link to bibliography |
|
||||
|----------------|------------------------------------------|---------------|--------------|-------------------------|--------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
|
||||
@@ -199,20 +193,16 @@ Tags
|
||||
{{< figure src="/ox-hugo/stewart_czech.jpg" caption="<span class='figure-number'>Figure 25: </span>Stewart platform from Brno University (Czech) <&brezina08_ni_labview_matlab_simmec_stewar_platf_desig>" >}}
|
||||
|
||||
|
||||
## Articles - Design Related {#articles-design-related}
|
||||
## Articles - Design Related {#sec:design}
|
||||
|
||||
<span class="org-target" id="org-target--sec-design"></span>
|
||||
|
||||
- Flexible joints (Section )
|
||||
- Specific geometry to have good decoupling properties (Section )
|
||||
- Alternative architectures for 6DoF parallel mechanisms (Section )
|
||||
- Workspace (Section )
|
||||
- Modelling (Section )
|
||||
- Flexible joints (Section [Flexures](#sec:design_flexure))
|
||||
- Specific geometry to have good decoupling properties (Section [Decoupling](#sec:design_decoupling))
|
||||
- Alternative architectures for 6DoF parallel mechanisms (Section [Alternative Architectures](#sec:design_architecture))
|
||||
- Workspace (Section [Workspace](#sec:design_workspace))
|
||||
- Modelling (Section [Modelling](#sec:design_modelling))
|
||||
|
||||
|
||||
### Flexures {#flexures}
|
||||
|
||||
<span class="org-target" id="org-target--sec-design-flexure"></span>
|
||||
### Flexures {#sec:design_flexure}
|
||||
|
||||
From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|
||||
|
||||
@@ -223,9 +213,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|
||||
| Effect of flexures | (<a href="#citeproc_bib_item_46">McInroy 2002</a>) |
|
||||
|
||||
|
||||
### Decoupling {#decoupling}
|
||||
|
||||
<span class="org-target" id="org-target--sec-design-decoupling"></span>
|
||||
### Decoupling {#sec:design_decoupling}
|
||||
|
||||
| Main Object | Link to bibliography |
|
||||
|------------------------------------|---------------------------------------------------------------|
|
||||
@@ -233,9 +221,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|
||||
| | (<a href="#citeproc_bib_item_4">Afzali-Far 2016</a>) |
|
||||
|
||||
|
||||
### Alternative Architectures {#alternative-architectures}
|
||||
|
||||
<span class="org-target" id="org-target--sec-design-architecture"></span>
|
||||
### Alternative Architectures {#sec:design_architecture}
|
||||
|
||||
| Figure | Link to bibliography |
|
||||
|------------------------------------------|----------------------------------------------------------------------------------------------------------------------------|
|
||||
@@ -250,9 +236,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|
||||
{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="<span class='figure-number'>Figure 26: </span><&dong07_desig_precis_compl_paral_posit>" >}}
|
||||
|
||||
|
||||
### Workspace {#workspace}
|
||||
|
||||
<span class="org-target" id="org-target--sec-design-workspace"></span>
|
||||
### Workspace {#sec:design_workspace}
|
||||
|
||||
| Main Object | Link to bibliography |
|
||||
|------------------------------------------------------|----------------------------------------------------------------|
|
||||
@@ -262,9 +246,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|
||||
| Orientation Workspace | (<a href="#citeproc_bib_item_37">Jiang and Gosselin 2009b</a>) |
|
||||
|
||||
|
||||
### Modelling {#modelling}
|
||||
|
||||
<span class="org-target" id="org-target--sec-design-modelling"></span>
|
||||
### Modelling {#sec:design_modelling}
|
||||
|
||||
|
||||
#### Multi Body {#multi-body}
|
||||
@@ -276,25 +258,21 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|
||||
#### Lumped {#lumped}
|
||||
|
||||
|
||||
## Control {#control}
|
||||
|
||||
<span class="org-target" id="org-target--sec-control"></span>
|
||||
## Control {#sec:control}
|
||||
|
||||
Different control objectives:
|
||||
|
||||
- Vibration Control (Section )
|
||||
- Position Control (Section )
|
||||
- Vibration Control (Section [Vibration Control and Active Damping](#sec:control_isolation))
|
||||
- Position Control (Section [Position Control](#sec:control_position))
|
||||
|
||||
Sometimes, the two objectives are simultaneous, in that case multiple sensors needs to be combined in the control architecture (Section ).
|
||||
Sometimes, the two objectives are simultaneous, in that case multiple sensors needs to be combined in the control architecture (Section [Multi Sensor Control](#sec:control_multi_sensor)).
|
||||
|
||||
Stewart platform, being 6DoF parallel mechanisms, have a coupled dynamics.
|
||||
In order to ease the control design, decoupling is generally required.
|
||||
Several approaches can be used (Section ).
|
||||
|
||||
|
||||
### Vibration Control and Active Damping {#vibration-control-and-active-damping}
|
||||
|
||||
<span class="org-target" id="org-target--sec-control-isolation"></span>
|
||||
### Vibration Control and Active Damping {#sec:control_isolation}
|
||||
|
||||
From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|
||||
|
||||
@@ -348,9 +326,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|
||||
| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_76">Wang et al. 2016</a>) |
|
||||
|
||||
|
||||
### Position Control {#position-control}
|
||||
|
||||
<span class="org-target" id="org-target--sec-control-position"></span>
|
||||
### Position Control {#sec:control_position}
|
||||
|
||||
Here, the objective is to _position_ the mobile platform with respect to an external metrology or internal metrology.
|
||||
|
||||
@@ -380,9 +356,7 @@ From: (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>):
|
||||
> The idea is to synthesize the control force that can compensate the parasitic bending and torsional torques of the flexible joints and simultaneously achieve diagonalization of the matrices M, C and K.
|
||||
|
||||
|
||||
### Multi Sensor Control {#multi-sensor-control}
|
||||
|
||||
<span class="org-target" id="org-target--sec-control-multi-sensor"></span>
|
||||
### Multi Sensor Control {#sec:control_multi_sensor}
|
||||
|
||||
Improvement by the use of several sensors:
|
||||
|
||||
@@ -478,9 +452,7 @@ From (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>):
|
||||
| Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>) |
|
||||
|
||||
|
||||
### Long Stroke Stewart Platforms {#long-stroke-stewart-platforms}
|
||||
|
||||
<span class="org-target" id="org-target--sec-control-long-stroke"></span>
|
||||
### Long Stroke Stewart Platforms {#sec:control_long_stroke}
|
||||
|
||||
| Link to bibliography | University | Actuators | Sensors | Control | Main Object |
|
||||
|-------------------------------------------------------------------------------------------------------------------------------------------------|----------------|------------------------|------------------|--------------------------------------------------|--------------------------------------------|
|
||||
|
||||
Reference in new issue
Block a user