tdehaeze/hugo
1
0 Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

remove empty bibliography
Deploy / deploy (push) Successful in 5s
Details

Browse Source
This commit is contained in:
tdehaeze committed 2026-10-12 10:21:48 +02:00
1 parent f38cc76be5
commit de6d56181d
89 files changed
+173 -731
Download Patch File Download Diff File Expand all files Collapse all files

No files matched your search

content/zettels/stewart_platforms.md
+137 -138
View File
@@ -64,111 +64,111 @@ Tags
| University | Figure | Configuration | Joints | Actuators | Sensors | Application | Link to bibliography |
|----------------|---------------------------------------------|-------------------|-------------|--------------------------|------------------------------------------------------------|------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| JPL | [Figure 5](#figure--fig:stewart-jpl) | Cubic | Flexible | Voice Coil (0.5 mm) | Force (collocated) | | (<a href="#citeproc_bib_item_63">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_62">Rahman, Spanos, and Laskin 1998</a>) Vibration Isolation (Space) |
| Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw) | Cubic | Elastomers | Voice Coil (10 mm) | Force, LVDT, Geophones | Isolation + Pointing (Space) | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>), (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
| Wyoming | [Figure 17](#figure--fig:stewart-uw-gsp) | Cubic (CoM=CoK) | Flexible | Voice Coil | Force | | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>), (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>), (<a href="#citeproc_bib_item_35">Jafari and McInroy 2003</a>) |
| Brussels | [Figure 21](#figure--fig:stewart-ulb-vc) | Cubic | Flexible | Voice Coil | Force | Vibration Isolation | (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>), (<a href="#citeproc_bib_item_60">Preumont et al. 2007</a>) |
| SRDC | [Figure 2](#figure--fig:stewart-naval) | Not Cubic | Ball joints | Voice Coil (10 mm) | | | (<a href="#citeproc_bib_item_67">Taranti, Agrawal, and Cristi 2001</a>) |
| JPL | [Figure 5](#figure--fig:stewart-jpl) | Cubic | Flexible | Voice Coil (0.5 mm) | Force (collocated) | | (<a href="#citeproc_bib_item_62">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_61">Rahman, Spanos, and Laskin 1998</a>) Vibration Isolation (Space) |
| Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw) | Cubic | Elastomers | Voice Coil (10 mm) | Force, LVDT, Geophones | Isolation + Pointing (Space) | (<a href="#citeproc_bib_item_67">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>), (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
| Wyoming | [Figure 17](#figure--fig:stewart-uw-gsp) | Cubic (CoM=CoK) | Flexible | Voice Coil | Force | | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>), (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>), (<a href="#citeproc_bib_item_35">Jafari and McInroy 2003</a>) |
| Brussels | [Figure 21](#figure--fig:stewart-ulb-vc) | Cubic | Flexible | Voice Coil | Force | Vibration Isolation | (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>), (<a href="#citeproc_bib_item_59">Preumont et al. 2007</a>) |
| SRDC | [Figure 2](#figure--fig:stewart-naval) | Not Cubic | Ball joints | Voice Coil (10 mm) | | | (<a href="#citeproc_bib_item_66">Taranti, Agrawal, and Cristi 2001</a>) |
| SRDC | [Figure 18](#figure--fig:stewart-pph) | Non-Cubic | Flexible | Voice Coil | Accelerometers, External metrology: Eddy Current + optical | Pointing | (<a href="#citeproc_bib_item_15">Chen, Bishop, and Agrawal 2003</a>) |
| Harbin (China) | [Figure 13](#figure--fig:stewart-tang18) | Cubic | Flexible | Voice Coil | Accelerometer in each leg | | (<a href="#citeproc_bib_item_16">Chi et al. 2015</a>), (<a href="#citeproc_bib_item_66">Tang, Cao, and Yu 2018</a>), (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>) |
| Einhoven | [Figure 9](#figure--fig:stewart-beijen) | Almost cubic | Flexible | Voice Coil | Force Sensor + Accelerometer | Vibration Isolation | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>), (<a href="#citeproc_bib_item_73">Tjepkema 2012</a>) |
| Harbin (China) | [Figure 13](#figure--fig:stewart-tang18) | Cubic | Flexible | Voice Coil | Accelerometer in each leg | | (<a href="#citeproc_bib_item_16">Chi et al. 2015</a>), (<a href="#citeproc_bib_item_65">Tang, Cao, and Yu 2018</a>), (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>) |
| Einhoven | [Figure 9](#figure--fig:stewart-beijen) | Almost cubic | Flexible | Voice Coil | Force Sensor + Accelerometer | Vibration Isolation | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>), (<a href="#citeproc_bib_item_72">Tjepkema 2012</a>) |
| JPL | [Figure 4](#figure--fig:stewart-geng) | Cubic (6-UPU) | Flexible | Magnetostrictive | Force (collocated), Accelerometers | Vibration Isolation | (<a href="#citeproc_bib_item_27">Geng and Haynes 1993</a>), (<a href="#citeproc_bib_item_28">Geng and Haynes 1994</a>), (<a href="#citeproc_bib_item_29">Geng et al. 1995</a>) |
| China | [Figure 10](#figure--fig:stewart-zhang11) | Non-cubic | Flexible | Magnetostrictive | Inertial | | (<a href="#citeproc_bib_item_83">Zhang et al. 2011</a>) |
| China | [Figure 10](#figure--fig:stewart-zhang11) | Non-cubic | Flexible | Magnetostrictive | Inertial | | (<a href="#citeproc_bib_item_82">Zhang et al. 2011</a>) |
| Brussels | [Figure 20](#figure--fig:stewart-ulb-pz) | Cubic | Flexible | Piezoelectric, Amplified | Piezo Force | Active Damping | (<a href="#citeproc_bib_item_3">Abu Hanieh, Horodinca, and Preumont 2002</a>) |
| SRDC | [Figure 19](#figure--fig:stewart-uqp) | Cubic | | Piezoelectric (50 um) | Geophone | Vibration | (<a href="#citeproc_bib_item_5">Agrawal and Chen 2004</a>) |
| Taiwan | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic | Flexible | Piezoelectric (120 um) | External capacitive | | (<a href="#citeproc_bib_item_72">Ting, Jar, and Li 2006</a>), (<a href="#citeproc_bib_item_71">Ting, Li, and Nguyen 2013</a>) |
| Taiwan | [Figure 15](#figure--fig:stewart-ting07) | Non-Cubic | Flexible | Piezoelectric (160 um) | External capacitive (LION) | | (<a href="#citeproc_bib_item_70">Ting, Jar, and Li 2007</a>) |
| Taiwan | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic | Flexible | Piezoelectric (120 um) | External capacitive | | (<a href="#citeproc_bib_item_71">Ting, Jar, and Li 2006</a>), (<a href="#citeproc_bib_item_70">Ting, Li, and Nguyen 2013</a>) |
| Taiwan | [Figure 15](#figure--fig:stewart-ting07) | Non-Cubic | Flexible | Piezoelectric (160 um) | External capacitive (LION) | | (<a href="#citeproc_bib_item_69">Ting, Jar, and Li 2007</a>) |
| Harbin (China) | [Figure 12](#figure--fig:stewart-du14) | 6-SPS (Optimized) | Flexible | Piezoelectric | Strain Gauge | | (<a href="#citeproc_bib_item_23">Du, Shi, and Dong 2014</a>) |
| Japan | [Figure 6](#figure--fig:stewart-furutani) | Non-Cubic | Flexible | Piezoelectric (16 um) | Eddy Current Displacement Sensors | Cutting machine | (<a href="#citeproc_bib_item_25">Furutani, Suzuki, and Kudoh 2004</a>) |
| China | [Figure 11](#figure--fig:stewart-yang19) | 6-UPS (Cubic?) | Flexible | Piezoelectric | Force, Position | | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
| Shangai | [Figure 8](#figure--fig:stewart-wang16) | Cubic | Flexible | Piezoelectric | Force Sensor + Accelerometer | | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>) |
| China | [Figure 11](#figure--fig:stewart-yang19) | 6-UPS (Cubic?) | Flexible | Piezoelectric | Force, Position | | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>) |
| Shangai | [Figure 8](#figure--fig:stewart-wang16) | Cubic | Flexible | Piezoelectric | Force Sensor + Accelerometer | | (<a href="#citeproc_bib_item_76">Wang et al. 2016</a>) |
| Matra (France) | [Figure 3](#figure--fig:stewart-mais) | Cubic | Flexible | Piezoelectric (25 um) | Piezo force sensors | Vibration control | (<a href="#citeproc_bib_item_19">Defendini et al. 2000</a>) |
| Japan | [Figure 7](#figure--fig:stewart-torii) | Non-Cubic | Flexible | Inchworm | | | (<a href="#citeproc_bib_item_75">Torii et al. 2012</a>) |
| Netherlands | [Figure 1](#figure--fig:stewart-naves) | Non-Cubic | Flexible | 3-phase rotary motor | Rotary Encoders | | (<a href="#citeproc_bib_item_54">Naves 2021</a>; <a href="#citeproc_bib_item_55">Naves et al. 2020</a>) |
| Japan | [Figure 7](#figure--fig:stewart-torii) | Non-Cubic | Flexible | Inchworm | | | (<a href="#citeproc_bib_item_74">Torii et al. 2012</a>) |
| Netherlands | [Figure 1](#figure--fig:stewart-naves) | Non-Cubic | Flexible | 3-phase rotary motor | Rotary Encoders | | (<a href="#citeproc_bib_item_53">Naves 2021</a>; <a href="#citeproc_bib_item_54">Naves et al. 2020</a>) |
<a id="figure--fig:stewart-naves"></a>
{{< figure src="/ox-hugo/stewart_naves.jpg" caption="<span class='figure-number'>Figure 1: </span>T-flex (<a href='#citeproc_bib_item_55'>Naves et al. 2020</a>)" >}}
{{< figure src="/ox-hugo/stewart_naves.jpg" caption="<span class='figure-number'>Figure 1: </span>T-flex <&naves20_t_flex>" >}}
<a id="figure--fig:stewart-naval"></a>
{{< figure src="/ox-hugo/stewart_naval.jpg" caption="<span class='figure-number'>Figure 2: </span>(<a href='#citeproc_bib_item_67'>Taranti, Agrawal, and Cristi 2001</a>)" >}}
{{< figure src="/ox-hugo/stewart_naval.jpg" caption="<span class='figure-number'>Figure 2: </span><&taranti01_effic_algor_vibrat_suppr>" >}}
<a id="figure--fig:stewart-mais"></a>
{{< figure src="/ox-hugo/stewart_mais.jpg" caption="<span class='figure-number'>Figure 3: </span>(<a href='#citeproc_bib_item_19'>Defendini et al. 2000</a>)" >}}
{{< figure src="/ox-hugo/stewart_mais.jpg" caption="<span class='figure-number'>Figure 3: </span><&defendini00_techn>" >}}
<a id="figure--fig:stewart-geng"></a>
{{< figure src="/ox-hugo/stewart_geng.jpg" caption="<span class='figure-number'>Figure 4: </span>(<a href='#citeproc_bib_item_28'>Geng and Haynes 1994</a>)" >}}
{{< figure src="/ox-hugo/stewart_geng.jpg" caption="<span class='figure-number'>Figure 4: </span><&geng94_six_degree_of_freed_activ>" >}}
<a id="figure--fig:stewart-jpl"></a>
{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="<span class='figure-number'>Figure 5: </span>(<a href='#citeproc_bib_item_63'>Spanos, Rahman, and Blackwood 1995</a>)" >}}
{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="<span class='figure-number'>Figure 5: </span><&spanos95_soft_activ_vibrat_isolat>" >}}
<a id="figure--fig:stewart-furutani"></a>
{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="<span class='figure-number'>Figure 6: </span>(<a href='#citeproc_bib_item_25'>Furutani, Suzuki, and Kudoh 2004</a>)" >}}
{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="<span class='figure-number'>Figure 6: </span><&furutani04_nanom_cuttin_machin_using_stewar>" >}}
<a id="figure--fig:stewart-torii"></a>
{{< figure src="/ox-hugo/stewart_torii.jpg" caption="<span class='figure-number'>Figure 7: </span>(<a href='#citeproc_bib_item_75'>Torii et al. 2012</a>)" >}}
{{< figure src="/ox-hugo/stewart_torii.jpg" caption="<span class='figure-number'>Figure 7: </span><&torii12_small_size_self_propel_stewar_platf>" >}}
<a id="figure--fig:stewart-wang16"></a>
{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="<span class='figure-number'>Figure 8: </span>(<a href='#citeproc_bib_item_77'>Wang et al. 2016</a>)" >}}
{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="<span class='figure-number'>Figure 8: </span><&wang16_inves_activ_vibrat_isolat_stewar>" >}}
<a id="figure--fig:stewart-beijen"></a>
{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="<span class='figure-number'>Figure 9: </span>(<a href='#citeproc_bib_item_7'>Beijen et al. 2018</a>)" >}}
{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="<span class='figure-number'>Figure 9: </span><&beijen18_self_tunin_mimo_distur_feedf>" >}}
<a id="figure--fig:stewart-zhang11"></a>
{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="<span class='figure-number'>Figure 10: </span>(<a href='#citeproc_bib_item_83'>Zhang et al. 2011</a>)" >}}
{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="<span class='figure-number'>Figure 10: </span><&zhang11_six_dof>" >}}
<a id="figure--fig:stewart-yang19"></a>
{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="<span class='figure-number'>Figure 11: </span>(<a href='#citeproc_bib_item_81'>Yang et al. 2019</a>)" >}}
{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="<span class='figure-number'>Figure 11: </span><&yang19_dynam_model_decoup_contr_flexib>" >}}
<a id="figure--fig:stewart-du14"></a>
{{< figure src="/ox-hugo/stewart_du14.jpg" caption="<span class='figure-number'>Figure 12: </span>(<a href='#citeproc_bib_item_23'>Du, Shi, and Dong 2014</a>)" >}}
{{< figure src="/ox-hugo/stewart_du14.jpg" caption="<span class='figure-number'>Figure 12: </span><&du14_piezo_actuat_high_precis_flexib>" >}}
<a id="figure--fig:stewart-tang18"></a>
{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="<span class='figure-number'>Figure 13: </span>(<a href='#citeproc_bib_item_66'>Tang, Cao, and Yu 2018</a>)" >}}
{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="<span class='figure-number'>Figure 13: </span><&tang18_decen_vibrat_contr_voice_coil>" >}}
<a id="figure--fig:stewart-nanoscale"></a>
{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="<span class='figure-number'>Figure 14: </span>(<a href='#citeproc_bib_item_72'>Ting, Jar, and Li 2006</a>)" >}}
{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="<span class='figure-number'>Figure 14: </span><&ting06_desig_stewar_nanos_platf>" >}}
<a id="figure--fig:stewart-ting07"></a>
{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="<span class='figure-number'>Figure 15: </span>(<a href='#citeproc_bib_item_70'>Ting, Jar, and Li 2007</a>)" >}}
{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="<span class='figure-number'>Figure 15: </span><&ting07_measur_calib_stewar_microm_system>" >}}
<a id="figure--fig:stewart-ht-uw"></a>
{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="<span class='figure-number'>Figure 16: </span>Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions (<a href='#citeproc_bib_item_69'>Thayer et al. 2002</a>)" >}}
{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="<span class='figure-number'>Figure 16: </span>Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions <&thayer02_six_axis_vibrat_isolat_system>" >}}
<a id="figure--fig:stewart-uw-gsp"></a>
{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="<span class='figure-number'>Figure 17: </span>UW GSP: Mutually Orthogonal Stewart Geometry (<a href='#citeproc_bib_item_44'>Li 2001</a>)" >}}
{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="<span class='figure-number'>Figure 17: </span>UW GSP: Mutually Orthogonal Stewart Geometry <&li01_simul_fault_vibrat_isolat_point>" >}}
<a id="figure--fig:stewart-pph"></a>
{{< figure src="/ox-hugo/stewart_pph.jpg" caption="<span class='figure-number'>Figure 18: </span>Precision Pointing Hexapod (PPH) (<a href='#citeproc_bib_item_15'>Chen, Bishop, and Agrawal 2003</a>)" >}}
{{< figure src="/ox-hugo/stewart_pph.jpg" caption="<span class='figure-number'>Figure 18: </span>Precision Pointing Hexapod (PPH) <&chen03_payload_point_activ_vibrat_isolat>" >}}
<a id="figure--fig:stewart-uqp"></a>
{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="<span class='figure-number'>Figure 19: </span>Ultra Quiet Platform (UQP) (<a href='#citeproc_bib_item_5'>Agrawal and Chen 2004</a>)" >}}
{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="<span class='figure-number'>Figure 19: </span>Ultra Quiet Platform (UQP) <&agrawal04_algor_activ_vibrat_isolat_spacec>" >}}
<a id="figure--fig:stewart-ulb-pz"></a>
{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="<span class='figure-number'>Figure 20: </span>ULB - Piezoelectric (<a href='#citeproc_bib_item_3'>Abu Hanieh, Horodinca, and Preumont 2002</a>)" >}}
{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="<span class='figure-number'>Figure 20: </span>ULB - Piezoelectric <&abu02_stiff_soft_stewar_platf_activ>" >}}
<a id="figure--fig:stewart-ulb-vc"></a>
{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="<span class='figure-number'>Figure 21: </span>ULB - Voice Coil (<a href='#citeproc_bib_item_2'>Abu Hanieh 2003</a>)" >}}
{{< 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}
@@ -179,24 +179,24 @@ Tags
|----------------|------------------------------------------|---------------|--------------|-------------------------|--------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| Japan | [Figure 22](#figure--fig:stewart-cleary) | 6-UPS | Conventional | DC, gear + rack pinion | Encoder, 7um res | (<a href="#citeproc_bib_item_17">Cleary and Arai 1991</a>) |
| Seoul | [Figure 23](#figure--fig:stewart-kim00) | Non-Cubic | Conventional | Hydraulic | LVDT | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>) |
| Xidian (China) | [Figure 24](#figure--fig:stewart-su04) | Non-Cubic | Conventional | Servo Motor + Screwball | Encoder | (<a href="#citeproc_bib_item_64">Su et al. 2004</a>) |
| Xidian (China) | [Figure 24](#figure--fig:stewart-su04) | Non-Cubic | Conventional | Servo Motor + Screwball | Encoder | (<a href="#citeproc_bib_item_63">Su et al. 2004</a>) |
| Czech | [Figure 25](#figure--fig:stewart-czech) | 6-UPS | Conventional | DC, Ball Screw | Absolute Linear position | (<a href="#citeproc_bib_item_11">Březina, Andrš, and Březina 2008</a>), (<a href="#citeproc_bib_item_33">Houška, Březina, and Březina 2010</a>), (<a href="#citeproc_bib_item_12">Březina and Březina 2010</a>) |
<a id="figure--fig:stewart-cleary"></a>
{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="<span class='figure-number'>Figure 22: </span>(<a href='#citeproc_bib_item_17'>Cleary and Arai 1991</a>)" >}}
{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="<span class='figure-number'>Figure 22: </span><&cleary91_protot_paral_manip>" >}}
<a id="figure--fig:stewart-kim00"></a>
{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="<span class='figure-number'>Figure 23: </span>(<a href='#citeproc_bib_item_41'>Kim 2001</a>)" >}}
{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="<span class='figure-number'>Figure 23: </span><&kim01_six>" >}}
<a id="figure--fig:stewart-su04"></a>
{{< figure src="/ox-hugo/stewart_su04.jpg" caption="<span class='figure-number'>Figure 24: </span>(<a href='#citeproc_bib_item_64'>Su et al. 2004</a>)" >}}
{{< figure src="/ox-hugo/stewart_su04.jpg" caption="<span class='figure-number'>Figure 24: </span><&su04_distur_rejec_high_precis_motion>" >}}
<a id="figure--fig:stewart-czech"></a>
{{< figure src="/ox-hugo/stewart_czech.jpg" caption="<span class='figure-number'>Figure 25: </span>Stewart platform from Brno University (Czech) (<a href='#citeproc_bib_item_11'>Březina, Andrš, and Březina 2008</a>)" >}}
{{< 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}
@@ -220,7 +220,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
| Main Object | Link to bibliography |
|--------------------|----------------------------------------------------|
| Effect of flexures | (<a href="#citeproc_bib_item_47">McInroy 2002</a>) |
| Effect of flexures | (<a href="#citeproc_bib_item_46">McInroy 2002</a>) |
### Decoupling {#decoupling}
@@ -229,7 +229,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
| Main Object | Link to bibliography |
|------------------------------------|---------------------------------------------------------------|
| Geometry for decoupling (CoM, CoK) | (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
| Geometry for decoupling (CoM, CoK) | (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
| | (<a href="#citeproc_bib_item_4">Afzali-Far 2016</a>) |
@@ -241,13 +241,13 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|------------------------------------------|----------------------------------------------------------------------------------------------------------------------------|
| [Figure 26](#figure--fig:stewart-dong07) | (<a href="#citeproc_bib_item_21">Dong, Sun, and Du 2008</a>), (<a href="#citeproc_bib_item_22">Dong, Sun, and Du 2007</a>) |
| | (<a href="#citeproc_bib_item_40">Kim and Cho 2009</a>) |
| | (<a href="#citeproc_bib_item_82">Yun and Li 2010</a>) |
| | (<a href="#citeproc_bib_item_81">Yun and Li 2010</a>) |
| | (<a href="#citeproc_bib_item_26">Gao et al. 2002</a>) |
| | (<a href="#citeproc_bib_item_32">Horin and Shoham 2006</a>) |
<a id="figure--fig:stewart-dong07"></a>
{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="<span class='figure-number'>Figure 26: </span>(<a href='#citeproc_bib_item_22'>Dong, Sun, and Du 2007</a>)" >}}
{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="<span class='figure-number'>Figure 26: </span><&dong07_desig_precis_compl_paral_posit>" >}}
### Workspace {#workspace}
@@ -257,7 +257,7 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
| Main Object | Link to bibliography |
|------------------------------------------------------|----------------------------------------------------------------|
| Compute orientation | (<a href="#citeproc_bib_item_10">Bonev and Ryu 2001</a>) |
| Reachable Workspace | (<a href="#citeproc_bib_item_58">Pernkopf and Husty 2006</a>) |
| Reachable Workspace | (<a href="#citeproc_bib_item_57">Pernkopf and Husty 2006</a>) |
| Determination of the max. singularity free workspace | (<a href="#citeproc_bib_item_36">Jiang and Gosselin 2009a</a>) |
| Orientation Workspace | (<a href="#citeproc_bib_item_37">Jiang and Gosselin 2009b</a>) |
@@ -310,28 +310,28 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
| University | Actuators | Sensors | Control | Main Object | Link to bibliography |
|------------|------------------|------------------------------------|--------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | (<a href="#citeproc_bib_item_29">Geng et al. 1995</a>) |
| JPL | Voice Coil | Force (collocated) | Decentralized IFF | Decentralized force feedback to reduce the transmissibility | (<a href="#citeproc_bib_item_63">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_62">Rahman, Spanos, and Laskin 1998</a>) |
| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>) |
| Wyoming | Voice Coil | Force | Centralized (cartesian) IFF | Difficult to decouple in practice | (<a href="#citeproc_bib_item_56">O’Brien et al. 1998</a>) |
| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
| JPL | Voice Coil | Force (collocated) | Decentralized IFF | Decentralized force feedback to reduce the transmissibility | (<a href="#citeproc_bib_item_62">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_61">Rahman, Spanos, and Laskin 1998</a>) |
| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_67">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>) |
| Wyoming | Voice Coil | Force | Centralized (cartesian) IFF | Difficult to decouple in practice | (<a href="#citeproc_bib_item_55">O’Brien et al. 1998</a>) |
| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
| Brussels | APA | Piezo force sensor | Decentralized IFF | | (<a href="#citeproc_bib_item_3">Abu Hanieh, Horodinca, and Preumont 2002</a>) |
| Brussels | Voice Coil | Force Sensor | Decentralized IFF | Effect of flexible joints | (<a href="#citeproc_bib_item_60">Preumont et al. 2007</a>) |
| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>) |
| China | | | Decentralized IFF | Design cubic configuration to have same modal frequencies: optimal damping of all modes | (<a href="#citeproc_bib_item_80">Yang et al. 2017</a>) |
| Brussels | Voice Coil | Force Sensor | Decentralized IFF | Effect of flexible joints | (<a href="#citeproc_bib_item_59">Preumont et al. 2007</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>) |
| China | | | Decentralized IFF | Design cubic configuration to have same modal frequencies: optimal damping of all modes | (<a href="#citeproc_bib_item_79">Yang et al. 2017</a>) |
| Washinton | Voice Coil | Force | Decentralized IFF | Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>) |
#### Sky-Hood Damping {#sky-hood-damping}
| University | Actuators | Sensors | Control | Main Object | Link to bibliography |
|----------------|------------|---------------------------------------------------|---------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------|--------------------------------------------------------------------|
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>) |
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (<a href="#citeproc_bib_item_60">Pu et al. 2011</a>) |
| China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | | (<a href="#citeproc_bib_item_1">Abbas and Hai 2014</a>) |
| Einhoven | Voice Coil | 6dof Accelerometers on mobile and fixed platforms | Self learning feedforward (FIR), Centralized MIMO feedback (sky hood damping) | | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>) |
| Harbin (China) | Voice Coil | Accelerometer in each leg | Decentralized vibration control | Vibration Control with VCM and Decentralized control | (<a href="#citeproc_bib_item_66">Tang, Cao, and Yu 2018</a>) |
| Washinton | Voice Coil | Geophones | Decentralized Inertial Feedback | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>) |
| Harbin (China) | Voice Coil | Accelerometer in each leg | Decentralized vibration control | Vibration Control with VCM and Decentralized control | (<a href="#citeproc_bib_item_65">Tang, Cao, and Yu 2018</a>) |
| Washinton | Voice Coil | Geophones | Decentralized Inertial Feedback | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>) |
| Washinton | Voice Coil | Geophones | Decentralized Sky Hood Damping | Comparison of force sensor and inertial sensors | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
| Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | Model + active damping with flexible hinges | (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>) |
@@ -342,10 +342,10 @@ From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
|------------|------------------|------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------|------------------------------------------------------------------------------------------------------------------------|
| JPL | Magnetostrictive | Force, Accelerometers | Robust Adaptive Filter | Hardware implementation | (<a href="#citeproc_bib_item_27">Geng and Haynes 1993</a>), (<a href="#citeproc_bib_item_28">Geng and Haynes 1994</a>) |
| SRDC | | | LMS with FIR (feedforward), disturbance rejection, Decentralized (struts) PID | Rejection of narrowband periodic disturbances | (<a href="#citeproc_bib_item_15">Chen, Bishop, and Agrawal 2003</a>) |
| Wyoming | Voice Coil | | Adaptive sinusoidal disturbance (Phase Lock Loop) | | (<a href="#citeproc_bib_item_43">Lin and McInroy 2003</a>) |
| Wyoming | Voice Coil | | Adaptive sinusoidal disturbance (Phase Lock Loop) | | (<a href="#citeproc_bib_item_42">Lin and McInroy 2003</a>) |
| SRDC | Piezo | Geophone (collocated) | "multiple error LMS" (require measured disturbance) vs "clear box" | | (<a href="#citeproc_bib_item_5">Agrawal and Chen 2004</a>) |
| China | Magnetostrictive | Inertial | Sinusoidal vibration, adaptive filters (LMS) | Design and Control of flexure joint Hexapods | (<a href="#citeproc_bib_item_83">Zhang et al. 2011</a>) |
| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>) |
| China | Magnetostrictive | Inertial | Sinusoidal vibration, adaptive filters (LMS) | Design and Control of flexure joint Hexapods | (<a href="#citeproc_bib_item_82">Zhang et al. 2011</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}
@@ -363,17 +363,17 @@ Control Strategy:
| University | Actuators | Sensors | Control | Modelling | Main Object | Link to bibliography |
|----------------|---------------|------------------------------------------------|---------------------------------------------------------------------------------------|-----------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | FEM =&gt; State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>) |
| Wyoming | Voice Coil | Force, LVDT | IFF, centralized (decouple) + decentralized (coupled) | Lumped | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | FEM =&gt; State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_67">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>) |
| Wyoming | Voice Coil | Force, LVDT | IFF, centralized (decouple) + decentralized (coupled) | Lumped | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
| Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>) |
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Analytical equations | Decoupling, both vibration + pointing control | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Analytical equations | Decoupling, both vibration + pointing control | (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>) |
| Japan | APA | Eddy current displacement | Decentralized (struts) PI + LPF control | | | (<a href="#citeproc_bib_item_25">Furutani, Suzuki, and Kudoh 2004</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | | (<a href="#citeproc_bib_item_60">Pu et al. 2011</a>) |
| Harbin (China) | PZT Piezo | Strain Gauge | Decentralized position feedback | | Workspace, Stiffness analyzed | (<a href="#citeproc_bib_item_23">Du, Shi, and Dong 2014</a>) |
| China | Piezoelectric | Leg length | Tracking control, ADRC, State observer | Analytical | Use of ADRC for tracking control of cubic hexapod | (<a href="#citeproc_bib_item_52">Min, Huang, and Su 2019</a>) |
| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Solid/Flexible | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
| China | Piezoelectric | Leg length | Tracking control, ADRC, State observer | Analytical | Use of ADRC for tracking control of cubic hexapod | (<a href="#citeproc_bib_item_51">Min, Huang, and Su 2019</a>) |
| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Solid/Flexible | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>) |
From: (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>):
From: (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>):
> On the other hand, the traditional modal decoupled control strategy cannot deal with the flexible Stewart platform governed by Eq. (34) because it is impossible to achieve simultaneous diagonalization of the mass, damping and stiffness matrices.
> To make the six-DOF system decoupled into six single-DOF isolators, we design a new controller based on the leg’s force and position feedback.
@@ -398,7 +398,7 @@ Comparison between "two sensor control" and "sensor fusion" is given in (<a href
| University | Actuators | Sensors | Control | Main Object | Link to bibliography |
|-------------|------------|--------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------|
| Washinton | Voice Coil | Force and Inertial | LQG, Decentralized, Sensor Fusion | Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
| Netherlands | Voice Coil | | Sensor Fusion, Two Sensor Control | | (<a href="#citeproc_bib_item_73">Tjepkema 2012</a>) |
| Netherlands | Voice Coil | | Sensor Fusion, Two Sensor Control | | (<a href="#citeproc_bib_item_72">Tjepkema 2012</a>) |
#### HAC-LAC {#hac-lac}
@@ -406,17 +406,17 @@ Comparison between "two sensor control" and "sensor fusion" is given in (<a href
| University | Actuators | Sensors | Control | Main Object | Link to bibliography |
|------------|------------------|---------------------------------------------------|---------------------------------------------------------------------------------------|--------------------------------------------------------------|--------------------------------------------------------------------|
| JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | (<a href="#citeproc_bib_item_29">Geng et al. 1995</a>) |
| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>) |
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>) |
| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | | (<a href="#citeproc_bib_item_78">Xie, Wang, and Zhang 2017</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>) |
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (<a href="#citeproc_bib_item_60">Pu et al. 2011</a>) |
| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | | (<a href="#citeproc_bib_item_77">Xie, Wang, and Zhang 2017</a>) |
#### Sensor Fusion {#sensor-fusion}
| University | Actuators | Sensors | Control | Main Object | Link to bibliography |
|-------------|------------|------------------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------|
| Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control | | (<a href="#citeproc_bib_item_73">Tjepkema 2012</a>), (<a href="#citeproc_bib_item_74">Tjepkema, van Dijk, and Soemers 2012</a>) |
| Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control | | (<a href="#citeproc_bib_item_72">Tjepkema 2012</a>), (<a href="#citeproc_bib_item_73">Tjepkema, van Dijk, and Soemers 2012</a>) |
| Washinton | Voice Coil | Force (HF) and Inertial (LF) | LQG, Decentralized, Sensor Fusion | Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
@@ -424,9 +424,9 @@ Comparison between "two sensor control" and "sensor fusion" is given in (<a href
| University | Actuators | Sensors | Control | Main Object | Link to bibliography |
|------------|---------------|------------------------|--------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>) |
| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>) |
| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_67">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>) |
| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
### Decoupling Strategies {#decoupling-strategies}
@@ -451,30 +451,30 @@ Identify Jacobian for better decoupling: (<a href="#citeproc_bib_item_14">Cheng,
#### Jacobian - Cartesian {#jacobian-cartesian}
| Wyoming | Voice Coil | Force | Cartesian frame decoupling | (<a href="#citeproc_bib_item_56">O’Brien et al. 1998</a>) |
| Wyoming | Voice Coil | Force | Cartesian frame decoupling | (<a href="#citeproc_bib_item_55">O’Brien et al. 1998</a>) |
|---------|------------|------------------------------------------------|---------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| Wyoming | Voice Coil | Force | IFF, Cartesian Frame, Jacobians | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
| Wyoming | Voice Coil | Force | IFF, Cartesian Frame, Jacobians | (<a href="#citeproc_bib_item_45">McInroy 1999</a>), (<a href="#citeproc_bib_item_48">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_47">McInroy and Hamann 2000</a>) |
| Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>) |
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (<a href="#citeproc_bib_item_44">Li, Hamann, and McInroy 2001</a>) |
| China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | (<a href="#citeproc_bib_item_1">Abbas and Hai 2014</a>) |
#### Modal Decoupling {#modal-decoupling}
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | (<a href="#citeproc_bib_item_60">Pu et al. 2011</a>) |
|-------|---------------|----------------------------------------------|--------------------------------------------------------------------|--------------------------------------------------------|
| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (<a href="#citeproc_bib_item_80">Yang et al. 2019</a>) |
#### Multivariable Control {#multivariable-control}
From (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>):
From (<a href="#citeproc_bib_item_68">Thayer et al. 2002</a>):
> Experimental closed-loopcontrol results using the hexapod have shown that controllers designed using a decentralized single-strut design work well when compared to full multivariable methodologies.
| China | PZT | Geophone (struts) | H-Infinity and mu-synthesis | (<a href="#citeproc_bib_item_42">Lei and Benli 2008</a>) |
| China | PZT | Geophone (struts) | H-Infinity and mu-synthesis | (<a href="#citeproc_bib_item_41">Lei and Benli 2008</a>) |
|----------------|------------|---------------------------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------------------------|
| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (<a href="#citeproc_bib_item_78">Xie, Wang, and Zhang 2017</a>) |
| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (<a href="#citeproc_bib_item_77">Xie, Wang, and Zhang 2017</a>) |
| Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>) |
@@ -485,11 +485,11 @@ From (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>):
| Link to bibliography | University | Actuators | Sensors | Control | Main Object |
|-------------------------------------------------------------------------------------------------------------------------------------------------|----------------|------------------------|------------------|--------------------------------------------------|--------------------------------------------|
| (<a href="#citeproc_bib_item_17">Cleary and Arai 1991</a>) | Japan | DC, gear + rack pinion | Encoder, 7um res | Decentralized (struts), PID control | Singular configuration analysis, workspace |
| (<a href="#citeproc_bib_item_64">Su et al. 2004</a>) | Xidian (China) | | | | |
| (<a href="#citeproc_bib_item_63">Su et al. 2004</a>) | Xidian (China) | | | | |
| (<a href="#citeproc_bib_item_34">Huang and Fu 2005</a>) | Taiwan | | | | |
| (<a href="#citeproc_bib_item_11">Březina, Andrš, and Březina 2008</a>), (<a href="#citeproc_bib_item_33">Houška, Březina, and Březina 2010</a>) | Czech | DC | | | Modeling with sim-mechanics |
| (<a href="#citeproc_bib_item_53">Molina, Rosario, and Sanchez 2008</a>) | Brazil | | | | Simulation with Matlab/Simulink |
| (<a href="#citeproc_bib_item_79">Yang et al. 2010</a>) | China | | | Decentralized PID | Simulation with Simulink/SimMechanics |
| (<a href="#citeproc_bib_item_52">Molina, Rosario, and Sanchez 2008</a>) | Brazil | | | | Simulation with Matlab/Simulink |
| (<a href="#citeproc_bib_item_78">Yang et al. 2010</a>) | China | | | Decentralized PID | Simulation with Simulink/SimMechanics |
| (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>) | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | |
@@ -498,28 +498,28 @@ From (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>):
### Books {#books}
- (<a href="#citeproc_bib_item_50">Merlet 2006</a>)
- (<a href="#citeproc_bib_item_65">Taghirad 2013</a>)
- (<a href="#citeproc_bib_item_59">Preumont 2018</a>)
- (<a href="#citeproc_bib_item_49">Merlet 2006</a>)
- (<a href="#citeproc_bib_item_64">Taghirad 2013</a>)
- (<a href="#citeproc_bib_item_58">Preumont 2018</a>)
- (<a href="#citeproc_bib_item_6">Arakelian 2018</a>)
### PhD Thesis {#phd-thesis}
- (<a href="#citeproc_bib_item_44">Li 2001</a>)
- (<a href="#citeproc_bib_item_43">Li 2001</a>)
- (<a href="#citeproc_bib_item_9">Bishop Jr 2002</a>)
- (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>)
- (<a href="#citeproc_bib_item_76">Vivas 2004</a>)
- (<a href="#citeproc_bib_item_75">Vivas 2004</a>)
- (<a href="#citeproc_bib_item_4">Afzali-Far 2016</a>)
- (<a href="#citeproc_bib_item_20">Deng 2017</a>)
- (<a href="#citeproc_bib_item_55">Naves et al. 2020</a>)
- (<a href="#citeproc_bib_item_54">Naves et al. 2020</a>)
### Articles - Reviews {#articles-reviews}
- (<a href="#citeproc_bib_item_18">Dasgupta and Mruthyunjaya 2000</a>)
- (<a href="#citeproc_bib_item_51">Merlet 2002</a>)
- (<a href="#citeproc_bib_item_57">Patel and George 2012</a>)
- (<a href="#citeproc_bib_item_50">Merlet 2002</a>)
- (<a href="#citeproc_bib_item_56">Patel and George 2012</a>)
- (<a href="#citeproc_bib_item_13">Buzurovic 2012</a>)
- (<a href="#citeproc_bib_item_24">Furqan, Suhaib, and Ahmad 2017</a>)
@@ -567,47 +567,46 @@ From (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>):
<div class="csl-entry"><a id="citeproc_bib_item_38"></a>Jiao, J., Y. Wu, K. Yu, and R. Zhao. 2018. “Dynamic Modeling and Experimental Analyses of Stewart Platform with Flexible Hinges.” <i>Journal of Vibration and Control</i> 25 (1): 151–71. doi:<a href="https://doi.org/10.1177/1077546318772474">10.1177/1077546318772474</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_39"></a>Kim, D. H., J.-Y. Kang, and K.-I. Lee. 2000. “Robust Tracking Control Design for a 6 Dof Parallel Manipulator.” <i>Journal of Robotic Systems</i> 17 (10): 527–47. doi:<a href="https://doi.org/10.1002/1097-4563(200010)17:10$<$527::AID-ROB2>3.0.CO;2-A">10.1002/1097-4563(200010)17:10$&#60;$527:AID-ROB2&#62;3.0.CO;2-A</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_40"></a>Kim, Hwa Soo, and Young Man Cho. 2009. “Design and Modeling of a Novel 3-Dof Precision Micro-Stage.” <i>Mechatronics</i> 19 (5): 598–608. doi:<a href="https://doi.org/10.1016/j.mechatronics.2009.01.004">10.1016/j.mechatronics.2009.01.004</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_41"></a>Kim, Won-jong. 2001. “Six-Axis Nano-Positioning with Planar Magnetic Levitation.” In <i>Proceedings of the 2001 1st IEEE Conference on Nanotechnology. IEEE-NANO 2001 (Cat. No.01EX516)</i>. doi:<a href="https://doi.org/10.1109/nano.2001.966414">10.1109/nano.2001.966414</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_42"></a>Lei, L., and W. Benli. 2008. “Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via $H_\Infty$ and $\Mu$ Synthesis.” <i>Chinese Journal of Aeronautics</i> 21 (2): 125–33. doi:<a href="https://doi.org/10.1016/s1000-9361(08)60016-3">10.1016/s1000-9361(08)60016-3</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_43"></a>Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” <i>IEEE Transactions on Control Systems Technology</i> 11 (2): 267–72. doi:<a href="https://doi.org/10.1109/tcst.2003.809248">10.1109/tcst.2003.809248</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_44"></a>Li, X. 2001. “Simultaneous, Fault-Tolerant Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” University of Wyoming.</div>
<div class="csl-entry"><a id="citeproc_bib_item_45"></a>Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In <i>Smart Structures and Materials 2001: Smart Structures and Integrated Systems</i>. doi:<a href="https://doi.org/10.1117/12.436521">10.1117/12.436521</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_46"></a>McInroy, J. E. 1999. “Dynamic Modeling of Flexure Jointed Hexapods for Control Purposes.” In <i>Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)</i>. doi:<a href="https://doi.org/10.1109/cca.1999.806694">10.1109/cca.1999.806694</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_47"></a>———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” <i>IEEE/ASME Transactions on Mechatronics</i> 7 (1): 95–99. doi:<a href="https://doi.org/10.1109/3516.990892">10.1109/3516.990892</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_48"></a>McInroy, J. E., and J. C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” <i>IEEE Transactions on Robotics and Automation</i> 16 (4): 372–81. doi:<a href="https://doi.org/10.1109/70.864229">10.1109/70.864229</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_49"></a>McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” <i>IEEE/ASME Transactions on Mechatronics</i> 4 (1): 91–95. doi:<a href="https://doi.org/10.1109/3516.752089">10.1109/3516.752089</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_50"></a>Merlet, J. P. 2006. <i>Parallel Robots</i>. 2nd ed. Springer Publishing Company, Incorporated.</div>
<div class="csl-entry"><a id="citeproc_bib_item_51"></a>Merlet, J.-P. 2002. “Still a Long Way to Go on the Road for Parallel Mechanisms.” In <i>Proc. ASME 2002 DETC Conf., Montreal</i>. <a href="https://api.semanticscholar.org/CorpusID:53859752">https://api.semanticscholar.org/CorpusID:53859752</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_52"></a>Min, Da, Deqing Huang, and Hu Su. 2019. “High-Precision Tracking of Cubic Stewart Platform Using Active Disturbance Rejection Control.” In <i>2019 Chinese Control Conference (CCC)</i>. doi:<a href="https://doi.org/10.23919/chicc.2019.8866606">10.23919/chicc.2019.8866606</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_53"></a>Molina, Fabian Andres Lara, Joao Mauricio Rosario, and Oscar Fernando Aviles Sanchez. 2008. “Simulation Environment Proposal, Analysis and Control of a Stewart Platform Manipulator.” In <i>7th Brazilian Conference on Dynamics, Control &#38; Applications</i>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_54"></a>Naves, M. 2021. “Design and Optimization of Large Stroke Flexure Mechanisms.” Univeristy of Twente; University of Twente. doi:<a href="https://doi.org/10.3990/1.9789036549943">10.3990/1.9789036549943</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_55"></a>Naves, M, WBJ Hakvoort, M Nijenhuis, and DM Brouwer. 2020. “T-Flex: A Large Range of Motion Fully Flexure-Based 6-DOF Hexapod.” In <i>20th EUSPEN International Conference &#38; Exhibition, EUSPEN 2020</i>, 205–8. EUSPEN.</div>
<div class="csl-entry"><a id="citeproc_bib_item_56"></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 <i>Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)</i>. doi:<a href="https://doi.org/10.1109/acc.1998.703532">10.1109/acc.1998.703532</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_57"></a>Patel, Y. D., and P. M. George. 2012. “Parallel Manipulators Applications-a Survey.” <i>Modern Mechanical Engineering</i> 02 (03). Scientific Research Publishing, Inc,: 57–64. doi:<a href="https://doi.org/10.4236/mme.2012.23008">10.4236/mme.2012.23008</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_58"></a>Pernkopf, F, and M L Husty. 2006. “Workspace Analysis of Stewart-Gough-Type Parallel Manipulators.” <i>Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science</i> 220 (7): 1019–32. doi:<a href="https://doi.org/10.1243/09544062jmes194">10.1243/09544062jmes194</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_59"></a>Preumont, A. 2018. <i>Vibration Control of Active Structures - Fourth Edition</i>. Solid Mechanics and Its Applications. Springer International Publishing. doi:<a href="https://doi.org/10.1007/978-3-319-72296-2">10.1007/978-3-319-72296-2</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_60"></a>Preumont, A., M. Horodinca, I. Romanescu, B. de Marneffe, M. Avraam, A. Deraemaeker, F. Bossens, and A. Abu Hanieh. 2007. “A Six-Axis Single-Stage Active Vibration Isolator Based on Stewart Platform.” <i>Journal of Sound and Vibration</i> 300 (3-5): 644–61. doi:<a href="https://doi.org/10.1016/j.jsv.2006.07.050">10.1016/j.jsv.2006.07.050</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_61"></a>Pu, H., X. Chen, Z. Zhou, and X. Luo. 2011. “Six-Degree-of-Freedom Active Vibration Isolation System with Decoupled Collocated Control.” <i>Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture</i> 226 (2): 313–25. doi:<a href="https://doi.org/10.1177/0954405411414336">10.1177/0954405411414336</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_62"></a>Rahman, Z. H., J. T. Spanos, and R. A. Laskin. 1998. “Multiaxis Vibration Isolation, Suppression, and Steering System for Space Observational Applications.” In <i>Telescope Control Systems III</i>. doi:<a href="https://doi.org/10.1117/12.308821">10.1117/12.308821</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_63"></a>Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In <i>Proceedings of 1995 American Control Conference - ACC’95</i>. doi:<a href="https://doi.org/10.1109/acc.1995.529280">10.1109/acc.1995.529280</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_64"></a>Su, Y.X., B.Y. Duan, C.H. Zheng, Y.F. Zhang, G.D. Chen, and J.W. Mi. 2004. “Disturbance-Rejection High-Precision Motion Control of a Stewart Platform.” <i>IEEE Transactions on Control Systems Technology</i> 12 (3): 364–74. doi:<a href="https://doi.org/10.1109/tcst.2004.824315">10.1109/tcst.2004.824315</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_65"></a>Taghirad, H. 2013. <i>Parallel Robots : Mechanics and Control</i>. Boca Raton, FL: CRC Press.</div>
<div class="csl-entry"><a id="citeproc_bib_item_66"></a>Tang, J., D. Cao, and T. Yu. 2018. “Decentralized Vibration Control of a Voice Coil Motor-Based Stewart Parallel Mechanism: Simulation and Experiments.” <i>Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science</i> 233 (1): 132–45. doi:<a href="https://doi.org/10.1177/0954406218756941">10.1177/0954406218756941</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_67"></a>Taranti, Christian, Brij Agrawal, and Roberto Cristi. 2001. “An Efficient Algorithm for Vibration Suppression to Meet Pointing Requirements of Optical Payloads.” In <i>AIAA Guidance, Navigation, and Control Conference and Exhibit</i>, 4094.</div>
<div class="csl-entry"><a id="citeproc_bib_item_68"></a>Thayer, D., and J. Vagners. 1998. “A Look at the Pole/Zero Structure of a Stewart Platform Using Special Coordinate Basis.” In <i>Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)</i>. doi:<a href="https://doi.org/10.1109/acc.1998.703595">10.1109/acc.1998.703595</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_69"></a>Thayer, D., M. Campbell, J. Vagners, and A. von Flotow. 2002. “Six-Axis Vibration Isolation System Using Soft Actuators and Multiple Sensors.” <i>Journal of Spacecraft and Rockets</i> 39 (2): 206–12. doi:<a href="https://doi.org/10.2514/2.3821">10.2514/2.3821</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_70"></a>Ting, Y., H.-C. Jar, and C.-C. Li. 2007. “Measurement and Calibration for Stewart Micromanipulation System.” <i>Precision Engineering</i> 31 (3): 226–33. doi:<a href="https://doi.org/10.1016/j.precisioneng.2006.09.004">10.1016/j.precisioneng.2006.09.004</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_71"></a>Ting, Y., C.-C. Li, and T. V. Nguyen. 2013. “Composite Controller Design for a 6dof Stewart Nanoscale Platform.” <i>Precision Engineering</i> 37 (3): 671–83. doi:<a href="https://doi.org/10.1016/j.precisioneng.2013.01.012">10.1016/j.precisioneng.2013.01.012</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_72"></a>Ting, Yung, H.-C. Jar, and Chun-Chung Li. 2006. “Design of a 6DOF Stewart-Type Nanoscale Platform.” In <i>2006 Sixth IEEE Conference on Nanotechnology</i>. doi:<a href="https://doi.org/10.1109/nano.2006.247808">10.1109/nano.2006.247808</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_73"></a>Tjepkema, D. 2012. “Active Hard Mount Vibration Isolation for Precision Equipment [Ph. D. Thesis].”</div>
<div class="csl-entry"><a id="citeproc_bib_item_74"></a>Tjepkema, D., J. van Dijk, and H. M. J. R. Soemers. 2012. “Sensor Fusion for Active Vibration Isolation in Precision Equipment.” <i>Journal of Sound and Vibration</i> 331 (4): 735–49. doi:<a href="https://doi.org/10.1016/j.jsv.2011.09.022">10.1016/j.jsv.2011.09.022</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_75"></a>Torii, Akihiro, Masaaki Banno, Akiteru Ueda, and Kae Doki. 2012. “A Small-Size Self-Propelled Stewart Platform.” <i>Electrical Engineering in Japan</i> 181 (2): 37–46. doi:<a href="https://doi.org/10.1002/eej.21261">10.1002/eej.21261</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_76"></a>Vivas, Oscar Andrés. 2004. “Contribution À L’identification et À La Commande Des Robots Parallèles.” Université Montpellier II-Sciences et Techniques du Languedoc.</div>
<div class="csl-entry"><a id="citeproc_bib_item_77"></a>Wang, C., X. Xie, Y. Chen, and Z. Zhang. 2016. “Investigation on Active Vibration Isolation of a Stewart Platform with Piezoelectric Actuators.” <i>Journal of Sound and Vibration</i> 383. Elsevier BV: 1–19. doi:<a href="https://doi.org/10.1016/j.jsv.2016.07.021">10.1016/j.jsv.2016.07.021</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_78"></a>Xie, X., C. Wang, and Z. Zhang. 2017. “Modeling and Control of a Hybrid Passive/Active Stewart Vibration Isolation Platform.” In <i>INTER-NOISE and NOISE-CON Congress and Conference Proceedings</i>, 255:1844–53. 6. Institute of Noise Control Engineering.</div>
<div class="csl-entry"><a id="citeproc_bib_item_79"></a>Yang, Chifu, Zhengmao Ye, O. Ogbobe Peter, and Junwei Han. 2010. “Modeling and Simulation of Spatial 6-DOF Parallel Robots Using Simulink and SimMechanics.” In <i>2010 3rd International Conference on Computer Science and Information Technology</i>. doi:<a href="https://doi.org/10.1109/iccsit.2010.5563824">10.1109/iccsit.2010.5563824</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_80"></a>Yang, XiaoLong, HongTao Wu, Yao Li, and Bai Chen. 2017. “Dynamic Isotropic Design and Decentralized Active Control of a Six-Axis Vibration Isolator via Stewart Platform.” <i>Mechanism and Machine Theory</i> 117: 244–52. doi:<a href="https://doi.org/10.1016/j.mechmachtheory.2017.07.017">10.1016/j.mechmachtheory.2017.07.017</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_81"></a>Yang, X., H. Wu, B. Chen, S. Kang, and S. Cheng. 2019. “Dynamic Modeling and Decoupled Control of a Flexible Stewart Platform for Vibration Isolation.” <i>Journal of Sound and Vibration</i> 439. Elsevier BV: 398–412. doi:<a href="https://doi.org/10.1016/j.jsv.2018.10.007">10.1016/j.jsv.2018.10.007</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_82"></a>Yun, Yuan, and Yangmin Li. 2010. “Design and Analysis of a Novel 6-Dof Redundant Actuated Parallel Robot with Compliant Hinges for High Precision Positioning.” <i>Nonlinear Dynamics</i> 61 (4): 829–45. doi:<a href="https://doi.org/10.1007/s11071-010-9690-x">10.1007/s11071-010-9690-x</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_83"></a>Zhang, Z., J. Liu, J. Mao, Y. Guo, and Y. Ma. 2011. “Six DOF Active Vibration Control Using Stewart Platform with Non-Cubic Configuration.” In <i>2011 6th IEEE Conference on Industrial Electronics and Applications</i>. doi:<a href="https://doi.org/10.1109/iciea.2011.5975679">10.1109/iciea.2011.5975679</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_41"></a>Lei, L., and W. Benli. 2008. “Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via $H_\Infty$ and $\Mu$ Synthesis.” <i>Chinese Journal of Aeronautics</i> 21 (2): 125–33. doi:<a href="https://doi.org/10.1016/s1000-9361(08)60016-3">10.1016/s1000-9361(08)60016-3</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_42"></a>Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” <i>IEEE Transactions on Control Systems Technology</i> 11 (2): 267–72. doi:<a href="https://doi.org/10.1109/tcst.2003.809248">10.1109/tcst.2003.809248</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_43"></a>Li, X. 2001. “Simultaneous, Fault-Tolerant Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” University of Wyoming.</div>
<div class="csl-entry"><a id="citeproc_bib_item_44"></a>Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In <i>Smart Structures and Materials 2001: Smart Structures and Integrated Systems</i>. doi:<a href="https://doi.org/10.1117/12.436521">10.1117/12.436521</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_45"></a>McInroy, J. E. 1999. “Dynamic Modeling of Flexure Jointed Hexapods for Control Purposes.” In <i>Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)</i>. doi:<a href="https://doi.org/10.1109/cca.1999.806694">10.1109/cca.1999.806694</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_46"></a>———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” <i>IEEE/ASME Transactions on Mechatronics</i> 7 (1): 95–99. doi:<a href="https://doi.org/10.1109/3516.990892">10.1109/3516.990892</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_47"></a>McInroy, J. E., and J. C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” <i>IEEE Transactions on Robotics and Automation</i> 16 (4): 372–81. doi:<a href="https://doi.org/10.1109/70.864229">10.1109/70.864229</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_48"></a>McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” <i>IEEE/ASME Transactions on Mechatronics</i> 4 (1): 91–95. doi:<a href="https://doi.org/10.1109/3516.752089">10.1109/3516.752089</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_49"></a>Merlet, J. P. 2006. <i>Parallel Robots</i>. 2nd ed. Springer Publishing Company, Incorporated.</div>
<div class="csl-entry"><a id="citeproc_bib_item_50"></a>Merlet, J.-P. 2002. “Still a Long Way to Go on the Road for Parallel Mechanisms.” In <i>Proc. ASME 2002 DETC Conf., Montreal</i>. <a href="https://api.semanticscholar.org/CorpusID:53859752">https://api.semanticscholar.org/CorpusID:53859752</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_51"></a>Min, Da, Deqing Huang, and Hu Su. 2019. “High-Precision Tracking of Cubic Stewart Platform Using Active Disturbance Rejection Control.” In <i>2019 Chinese Control Conference (CCC)</i>. doi:<a href="https://doi.org/10.23919/chicc.2019.8866606">10.23919/chicc.2019.8866606</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_52"></a>Molina, Fabian Andres Lara, Joao Mauricio Rosario, and Oscar Fernando Aviles Sanchez. 2008. “Simulation Environment Proposal, Analysis and Control of a Stewart Platform Manipulator.” In <i>7th Brazilian Conference on Dynamics, Control &#38; Applications</i>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_53"></a>Naves, M. 2021. “Design and Optimization of Large Stroke Flexure Mechanisms.” Univeristy of Twente; University of Twente. doi:<a href="https://doi.org/10.3990/1.9789036549943">10.3990/1.9789036549943</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_54"></a>Naves, M, WBJ Hakvoort, M Nijenhuis, and DM Brouwer. 2020. “T-Flex: A Large Range of Motion Fully Flexure-Based 6-DOF Hexapod.” In <i>20th EUSPEN International Conference &#38; Exhibition, EUSPEN 2020</i>, 205–8. EUSPEN.</div>
<div class="csl-entry"><a id="citeproc_bib_item_55"></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 <i>Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)</i>. doi:<a href="https://doi.org/10.1109/acc.1998.703532">10.1109/acc.1998.703532</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_56"></a>Patel, Y. D., and P. M. George. 2012. “Parallel Manipulators Applications-a Survey.” <i>Modern Mechanical Engineering</i> 02 (03). Scientific Research Publishing, Inc,: 57–64. doi:<a href="https://doi.org/10.4236/mme.2012.23008">10.4236/mme.2012.23008</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_57"></a>Pernkopf, F, and M L Husty. 2006. “Workspace Analysis of Stewart-Gough-Type Parallel Manipulators.” <i>Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science</i> 220 (7): 1019–32. doi:<a href="https://doi.org/10.1243/09544062jmes194">10.1243/09544062jmes194</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_58"></a>Preumont, A. 2018. <i>Vibration Control of Active Structures - Fourth Edition</i>. Solid Mechanics and Its Applications. Springer International Publishing. doi:<a href="https://doi.org/10.1007/978-3-319-72296-2">10.1007/978-3-319-72296-2</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_59"></a>Preumont, A., M. Horodinca, I. Romanescu, B. de Marneffe, M. Avraam, A. Deraemaeker, F. Bossens, and A. Abu Hanieh. 2007. “A Six-Axis Single-Stage Active Vibration Isolator Based on Stewart Platform.” <i>Journal of Sound and Vibration</i> 300 (3-5): 644–61. doi:<a href="https://doi.org/10.1016/j.jsv.2006.07.050">10.1016/j.jsv.2006.07.050</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_60"></a>Pu, H., X. Chen, Z. Zhou, and X. Luo. 2011. “Six-Degree-of-Freedom Active Vibration Isolation System with Decoupled Collocated Control.” <i>Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture</i> 226 (2): 313–25. doi:<a href="https://doi.org/10.1177/0954405411414336">10.1177/0954405411414336</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_61"></a>Rahman, Z. H., J. T. Spanos, and R. A. Laskin. 1998. “Multiaxis Vibration Isolation, Suppression, and Steering System for Space Observational Applications.” In <i>Telescope Control Systems III</i>. doi:<a href="https://doi.org/10.1117/12.308821">10.1117/12.308821</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_62"></a>Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In <i>Proceedings of 1995 American Control Conference - ACC’95</i>. doi:<a href="https://doi.org/10.1109/acc.1995.529280">10.1109/acc.1995.529280</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_63"></a>Su, Y.X., B.Y. Duan, C.H. Zheng, Y.F. Zhang, G.D. Chen, and J.W. Mi. 2004. “Disturbance-Rejection High-Precision Motion Control of a Stewart Platform.” <i>IEEE Transactions on Control Systems Technology</i> 12 (3): 364–74. doi:<a href="https://doi.org/10.1109/tcst.2004.824315">10.1109/tcst.2004.824315</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_64"></a>Taghirad, H. 2013. <i>Parallel Robots : Mechanics and Control</i>. Boca Raton, FL: CRC Press.</div>
<div class="csl-entry"><a id="citeproc_bib_item_65"></a>Tang, J., D. Cao, and T. Yu. 2018. “Decentralized Vibration Control of a Voice Coil Motor-Based Stewart Parallel Mechanism: Simulation and Experiments.” <i>Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science</i> 233 (1): 132–45. doi:<a href="https://doi.org/10.1177/0954406218756941">10.1177/0954406218756941</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_66"></a>Taranti, Christian, Brij Agrawal, and Roberto Cristi. 2001. “An Efficient Algorithm for Vibration Suppression to Meet Pointing Requirements of Optical Payloads.” In <i>AIAA Guidance, Navigation, and Control Conference and Exhibit</i>, 4094.</div>
<div class="csl-entry"><a id="citeproc_bib_item_67"></a>Thayer, D., and J. Vagners. 1998. “A Look at the Pole/Zero Structure of a Stewart Platform Using Special Coordinate Basis.” In <i>Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)</i>. doi:<a href="https://doi.org/10.1109/acc.1998.703595">10.1109/acc.1998.703595</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_68"></a>Thayer, D., M. Campbell, J. Vagners, and A. von Flotow. 2002. “Six-Axis Vibration Isolation System Using Soft Actuators and Multiple Sensors.” <i>Journal of Spacecraft and Rockets</i> 39 (2): 206–12. doi:<a href="https://doi.org/10.2514/2.3821">10.2514/2.3821</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_69"></a>Ting, Y., H.-C. Jar, and C.-C. Li. 2007. “Measurement and Calibration for Stewart Micromanipulation System.” <i>Precision Engineering</i> 31 (3): 226–33. doi:<a href="https://doi.org/10.1016/j.precisioneng.2006.09.004">10.1016/j.precisioneng.2006.09.004</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_70"></a>Ting, Y., C.-C. Li, and T. V. Nguyen. 2013. “Composite Controller Design for a 6dof Stewart Nanoscale Platform.” <i>Precision Engineering</i> 37 (3): 671–83. doi:<a href="https://doi.org/10.1016/j.precisioneng.2013.01.012">10.1016/j.precisioneng.2013.01.012</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_71"></a>Ting, Yung, H.-C. Jar, and Chun-Chung Li. 2006. “Design of a 6DOF Stewart-Type Nanoscale Platform.” In <i>2006 Sixth IEEE Conference on Nanotechnology</i>. doi:<a href="https://doi.org/10.1109/nano.2006.247808">10.1109/nano.2006.247808</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_72"></a>Tjepkema, D. 2012. “Active Hard Mount Vibration Isolation for Precision Equipment [Ph. D. Thesis].”</div>
<div class="csl-entry"><a id="citeproc_bib_item_73"></a>Tjepkema, D., J. van Dijk, and H. M. J. R. Soemers. 2012. “Sensor Fusion for Active Vibration Isolation in Precision Equipment.” <i>Journal of Sound and Vibration</i> 331 (4): 735–49. doi:<a href="https://doi.org/10.1016/j.jsv.2011.09.022">10.1016/j.jsv.2011.09.022</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_74"></a>Torii, Akihiro, Masaaki Banno, Akiteru Ueda, and Kae Doki. 2012. “A Small-Size Self-Propelled Stewart Platform.” <i>Electrical Engineering in Japan</i> 181 (2): 37–46. doi:<a href="https://doi.org/10.1002/eej.21261">10.1002/eej.21261</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_75"></a>Vivas, Oscar Andrés. 2004. “Contribution À L’identification et À La Commande Des Robots Parallèles.” Université Montpellier II-Sciences et Techniques du Languedoc.</div>
<div class="csl-entry"><a id="citeproc_bib_item_76"></a>Wang, C., X. Xie, Y. Chen, and Z. Zhang. 2016. “Investigation on Active Vibration Isolation of a Stewart Platform with Piezoelectric Actuators.” <i>Journal of Sound and Vibration</i> 383. Elsevier BV: 1–19. doi:<a href="https://doi.org/10.1016/j.jsv.2016.07.021">10.1016/j.jsv.2016.07.021</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_77"></a>Xie, X., C. Wang, and Z. Zhang. 2017. “Modeling and Control of a Hybrid Passive/Active Stewart Vibration Isolation Platform.” In <i>INTER-NOISE and NOISE-CON Congress and Conference Proceedings</i>, 255:1844–53. 6. Institute of Noise Control Engineering.</div>
<div class="csl-entry"><a id="citeproc_bib_item_78"></a>Yang, Chifu, Zhengmao Ye, O. Ogbobe Peter, and Junwei Han. 2010. “Modeling and Simulation of Spatial 6-DOF Parallel Robots Using Simulink and SimMechanics.” In <i>2010 3rd International Conference on Computer Science and Information Technology</i>. doi:<a href="https://doi.org/10.1109/iccsit.2010.5563824">10.1109/iccsit.2010.5563824</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_79"></a>Yang, XiaoLong, HongTao Wu, Yao Li, and Bai Chen. 2017. “Dynamic Isotropic Design and Decentralized Active Control of a Six-Axis Vibration Isolator via Stewart Platform.” <i>Mechanism and Machine Theory</i> 117: 244–52. doi:<a href="https://doi.org/10.1016/j.mechmachtheory.2017.07.017">10.1016/j.mechmachtheory.2017.07.017</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_80"></a>Yang, X., H. Wu, B. Chen, S. Kang, and S. Cheng. 2019. “Dynamic Modeling and Decoupled Control of a Flexible Stewart Platform for Vibration Isolation.” <i>Journal of Sound and Vibration</i> 439. Elsevier BV: 398–412. doi:<a href="https://doi.org/10.1016/j.jsv.2018.10.007">10.1016/j.jsv.2018.10.007</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_81"></a>Yun, Yuan, and Yangmin Li. 2010. “Design and Analysis of a Novel 6-Dof Redundant Actuated Parallel Robot with Compliant Hinges for High Precision Positioning.” <i>Nonlinear Dynamics</i> 61 (4): 829–45. doi:<a href="https://doi.org/10.1007/s11071-010-9690-x">10.1007/s11071-010-9690-x</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_82"></a>Zhang, Z., J. Liu, J. Mao, Y. Guo, and Y. Ma. 2011. “Six DOF Active Vibration Control Using Stewart Platform with Non-Cubic Configuration.” In <i>2011 6th IEEE Conference on Industrial Electronics and Applications</i>. doi:<a href="https://doi.org/10.1109/iciea.2011.5975679">10.1109/iciea.2011.5975679</a>.</div>
</div>