+++
title = "Mechatronics Approach for the Development of a Nano-Active-Stabilization-System"
draft = false
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> **Abstract**
>
> With the growing number of fourth generation light sources, there is an increased need of fast positioning end-stations with nanometric precision.
> Such systems are usually including dedicated control strategies, and many factors may limit their performances.
> In order to design such complex systems in a predictive way, a mechatronic design approach also known as "model based design", may be utilized.
> In this paper, we present how this mechatronic design approach was used for the development of a nano-hexapod for the ESRF ID31 beamline.
> The chosen design approach consists of using models of the mechatronic system (including sensors, actuators and control strategies) to predict its behavior.
> Based on this behavior and closed-loop simulations, the elements that are limiting the performances can be identified and re-designed accordingly.
> This allows to make adequate choices concerning the design of the nano-hexapod and the overall mechatronic architecture early in the project and save precious time and resources.
> Several test benches were used to validate the models and to gain confidence on the predictability of the final system's performances.
> Measured nano-hexapod's dynamics was shown to be in very good agreement with the models.
> Further tests should be done in order to confirm that the performances of the system match the predicted one.
> The presented development approach is foreseen to be applied more frequently to future mechatronic system design at the ESRF.


## Conference Paper [pdf](/ox-hugo/dehaeze21_mechatronics_approach_nass.pdf) {#conference-paper-pdf--dehaeze21-mechatronics-approach-nass-dot-pdf}


## Code {#code}

[nass-mechatronics on Gitea](https://git.tdehaeze.xyz/tdehaeze/nass-mechatronics)


## References {#references}