2021-06-15 09:33:19 +02:00
|
|
|
<?xml version="1.0" encoding="utf-8"?>
|
|
|
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
|
|
|
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
|
|
|
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
|
|
|
|
<head>
|
2021-06-15 13:22:32 +02:00
|
|
|
<!-- 2021-06-15 mar. 13:22 -->
|
2021-06-15 09:33:19 +02:00
|
|
|
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
|
|
|
|
<title>Nano-Hexapod - Assembly</title>
|
|
|
|
|
<meta name="author" content="Dehaeze Thomas" />
|
|
|
|
|
<meta name="generator" content="Org Mode" />
|
|
|
|
|
<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
|
|
|
|
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
|
|
|
|
</head>
|
|
|
|
|
<body>
|
|
|
|
|
<div id="org-div-home-and-up">
|
|
|
|
|
<a accesskey="h" href="../index.html"> UP </a>
|
|
|
|
|
|
|
|
|
|
|
<a accesskey="H" href="../index.html"> HOME </a>
|
|
|
|
|
</div><div id="content">
|
|
|
|
|
<h1 class="title">Nano-Hexapod - Assembly</h1>
|
2021-06-15 13:22:32 +02:00
|
|
|
<div id="table-of-contents">
|
|
|
|
|
<h2>Table of Contents</h2>
|
|
|
|
|
<div id="text-table-of-contents">
|
|
|
|
|
<ul>
|
|
|
|
|
<li><a href="#orge56179d">1. Mounting Goals</a></li>
|
|
|
|
|
<li><a href="#orgc59b841">2. Mounting Bench</a></li>
|
|
|
|
|
<li><a href="#org88bb612">3. Mounting Procedure</a>
|
|
|
|
|
<ul>
|
|
|
|
|
<li><a href="#org488d29b">3.1. With Encoders on the Struts</a></li>
|
|
|
|
|
<li><a href="#org815ff7a">3.2. With Encoders on the Plates</a></li>
|
|
|
|
|
</ul>
|
|
|
|
|
</li>
|
|
|
|
|
<li><a href="#orgc7b5877">4. Nano-Hexapod Mounting</a>
|
|
|
|
|
<ul>
|
|
|
|
|
<li><a href="#org01a6b9f">4.1. Plates</a></li>
|
|
|
|
|
<li><a href="#orgc715c2a">4.2. Mounting Tool</a></li>
|
|
|
|
|
<li><a href="#org4ee6224">4.3. Mounted Hexapod</a></li>
|
|
|
|
|
</ul>
|
|
|
|
|
</li>
|
|
|
|
|
</ul>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
2021-06-15 09:33:19 +02:00
|
|
|
<hr>
|
|
|
|
|
<p>This report is also available as a <a href="./nass-nano-hexapod-assembly.pdf">pdf</a>.</p>
|
|
|
|
|
<hr>
|
2021-06-15 13:22:32 +02:00
|
|
|
|
|
|
|
|
<div id="outline-container-orge56179d" class="outline-2">
|
|
|
|
|
<h2 id="orge56179d"><span class="section-number-2">1</span> Mounting Goals</h2>
|
|
|
|
|
<div class="outline-text-2" id="text-1">
|
|
|
|
|
|
|
|
|
|
<div id="org028e820" class="figure">
|
|
|
|
|
<p><img src="figs/nano_hexapod_elements.png" alt="nano_hexapod_elements.png" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 1: </span>Received top and bottom nano-hexapod’s plates</p>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div id="org8c78525" class="figure">
|
|
|
|
|
<p><img src="figs/fixation_flexible_joints.png" alt="fixation_flexible_joints.png" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 2: </span>Received top and bottom nano-hexapod’s plates</p>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div id="org58e377c" class="figure">
|
|
|
|
|
<p><img src="figs/location_bot_flex.png" alt="location_bot_flex.png" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 3: </span>Received top and bottom nano-hexapod’s plates</p>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div id="org23fbe72" class="figure">
|
|
|
|
|
<p><img src="figs/location_top_flexible_joints.png" alt="location_top_flexible_joints.png" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 4: </span>Received top and bottom nano-hexapod’s plates</p>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div id="orgc1fb23b" class="figure">
|
|
|
|
|
<p><img src="figs/specifications_flexible_joints.png" alt="specifications_flexible_joints.png" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 5: </span>Received top and bottom nano-hexapod’s plates</p>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
<div id="outline-container-orgc59b841" class="outline-2">
|
|
|
|
|
<h2 id="orgc59b841"><span class="section-number-2">2</span> Mounting Bench</h2>
|
|
|
|
|
<div class="outline-text-2" id="text-2">
|
|
|
|
|
|
|
|
|
|
<div id="org69112ce" class="figure">
|
|
|
|
|
<p><img src="figs/mounting_hexapod_cut.png" alt="mounting_hexapod_cut.png" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 6: </span>Received top and bottom nano-hexapod’s plates</p>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div id="orgbaaaac5" class="figure">
|
|
|
|
|
<p><img src="figs/center_part_hexapod_mounting.jpg" alt="center_part_hexapod_mounting.jpg" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 7: </span>Received top and bottom nano-hexapod’s plates</p>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
<div id="outline-container-org88bb612" class="outline-2">
|
|
|
|
|
<h2 id="org88bb612"><span class="section-number-2">3</span> Mounting Procedure</h2>
|
|
|
|
|
<div class="outline-text-2" id="text-3">
|
|
|
|
|
</div>
|
|
|
|
|
<div id="outline-container-org488d29b" class="outline-3">
|
|
|
|
|
<h3 id="org488d29b"><span class="section-number-3">3.1</span> With Encoders on the Struts</h3>
|
|
|
|
|
<div class="outline-text-3" id="text-3-1">
|
|
|
|
|
<ol class="org-ol">
|
|
|
|
|
<li>Fix the bottom plate with the cylindrical tool</li>
|
|
|
|
|
<li>Put the top plate on the granite</li>
|
|
|
|
|
<li>Put the cylindrical tool and bottom plate on top of the top plate (Figure <a href="#org283f51c">10</a>).
|
|
|
|
|
This position the bottom plate with respect to the top plate in X, Y, Z, Rx, Ry</li>
|
|
|
|
|
<li>Put the pin to position/fix the Rz.
|
|
|
|
|
Now the two plates should be position and clamped together</li>
|
|
|
|
|
<li>Fix the 6 struts</li>
|
|
|
|
|
<li>Remove the pin and the tool</li>
|
|
|
|
|
<li>Put the nano-hexapod in place</li>
|
|
|
|
|
</ol>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
<div id="outline-container-org815ff7a" class="outline-3">
|
|
|
|
|
<h3 id="org815ff7a"><span class="section-number-3">3.2</span> With Encoders on the Plates</h3>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
<div id="outline-container-orgc7b5877" class="outline-2">
|
|
|
|
|
<h2 id="orgc7b5877"><span class="section-number-2">4</span> Nano-Hexapod Mounting</h2>
|
|
|
|
|
<div class="outline-text-2" id="text-4">
|
|
|
|
|
<p>
|
|
|
|
|
<a id="orgf881ec9"></a>
|
|
|
|
|
</p>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
<div id="outline-container-org01a6b9f" class="outline-3">
|
|
|
|
|
<h3 id="org01a6b9f"><span class="section-number-3">4.1</span> Plates</h3>
|
|
|
|
|
<div class="outline-text-3" id="text-4-1">
|
|
|
|
|
|
|
|
|
|
<div id="org8bb4418" class="figure">
|
|
|
|
|
<p><img src="figs/nano_hexapod_plates.jpg" alt="nano_hexapod_plates.jpg" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 8: </span>Received top and bottom nano-hexapod’s plates</p>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div id="org401ea96" class="figure">
|
|
|
|
|
<p><img src="figs/plates_tolerences.jpg" alt="plates_tolerences.jpg" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 9: </span>Bottom plate on the measurement granite (FARO arm). Zoom on the main feature of the plate</p>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
<div id="outline-container-orgc715c2a" class="outline-3">
|
|
|
|
|
<h3 id="orgc715c2a"><span class="section-number-3">4.2</span> Mounting Tool</h3>
|
|
|
|
|
<div class="outline-text-3" id="text-4-2">
|
|
|
|
|
|
|
|
|
|
<div id="org283f51c" class="figure">
|
|
|
|
|
<p><img src="figs/mounting_tool_hexapod_bot_view.jpg" alt="mounting_tool_hexapod_bot_view.jpg" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 10: </span>Bottom and top plates mounted together with the special tool</p>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div id="org5361cab" class="figure">
|
|
|
|
|
<p><img src="figs/mounting_tool_hexapod_top_view.jpg" alt="mounting_tool_hexapod_top_view.jpg" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 11: </span>Bottom and top plates mounted together with the special tool (top view)</p>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
<div id="outline-container-org4ee6224" class="outline-3">
|
|
|
|
|
<h3 id="org4ee6224"><span class="section-number-3">4.3</span> Mounted Hexapod</h3>
|
|
|
|
|
<div class="outline-text-3" id="text-4-3">
|
|
|
|
|
|
|
|
|
|
<div id="orgd0db71f" class="figure">
|
|
|
|
|
<p><img src="figs/nano_hexapod_mounted.jpg" alt="nano_hexapod_mounted.jpg" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 12: </span>Mounted Nano-Hexapod</p>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
2021-06-15 09:33:19 +02:00
|
|
|
</div>
|
|
|
|
|
<div id="postamble" class="status">
|
|
|
|
|
<p class="author">Author: Dehaeze Thomas</p>
|
2021-06-15 13:22:32 +02:00
|
|
|
<p class="date">Created: 2021-06-15 mar. 13:22</p>
|
2021-06-15 09:33:19 +02:00
|
|
|
</div>
|
|
|
|
|
</body>
|
|
|
|
|
</html>
|
