diff --git a/figs/center_part_hexapod_mounting.jpg b/figs/center_part_hexapod_mounting.jpg new file mode 100644 index 0000000..65fb347 Binary files /dev/null and b/figs/center_part_hexapod_mounting.jpg differ diff --git a/figs/fixation_flexible_joints.pdf b/figs/fixation_flexible_joints.pdf new file mode 100644 index 0000000..1f51359 Binary files /dev/null and b/figs/fixation_flexible_joints.pdf differ diff --git a/figs/fixation_flexible_joints.png b/figs/fixation_flexible_joints.png new file mode 100644 index 0000000..1193766 Binary files /dev/null and b/figs/fixation_flexible_joints.png differ diff --git a/figs/fixation_flexible_joints.svg b/figs/fixation_flexible_joints.svg new file mode 100644 index 0000000..1a33197 --- /dev/null +++ b/figs/fixation_flexible_joints.svg @@ -0,0 +1,174 @@ + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Reference Surfaces + + + + + + + + + + + + + + diff --git a/figs/location_bot_flex.pdf b/figs/location_bot_flex.pdf new file mode 100644 index 0000000..49f2176 Binary files /dev/null and b/figs/location_bot_flex.pdf differ diff --git a/figs/location_bot_flex.png b/figs/location_bot_flex.png new file mode 100644 index 0000000..f887740 Binary files /dev/null and b/figs/location_bot_flex.png differ diff --git a/figs/location_bot_flex.svg b/figs/location_bot_flex.svg new file mode 100644 index 0000000..e0f5473 --- /dev/null +++ b/figs/location_bot_flex.svg @@ -0,0 +1,237 @@ + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gap + + Fixed Orientation + + + + + + + + + + + + + 0.2mm gap(mechanical stop) + + + diff --git a/figs/location_top_flexible_joints.pdf b/figs/location_top_flexible_joints.pdf new file mode 100644 index 0000000..d614160 Binary files /dev/null and b/figs/location_top_flexible_joints.pdf differ diff --git a/figs/location_top_flexible_joints.png b/figs/location_top_flexible_joints.png new file mode 100644 index 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b/figs/specifications_flexible_joints.svg new file mode 100644 index 0000000..693177e --- /dev/null +++ b/figs/specifications_flexible_joints.svg @@ -0,0 +1,11910 @@ + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + Cylinder + + Plane + + + + diff --git a/nass-nano-hexapod-assembly.html b/nass-nano-hexapod-assembly.html index 8aa85b0..8509670 100644 --- a/nass-nano-hexapod-assembly.html +++ b/nass-nano-hexapod-assembly.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Nano-Hexapod - Assembly @@ -18,13 +18,179 @@ HOME

Nano-Hexapod - Assembly

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Table of Contents

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This report is also available as a pdf.

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1 Mounting Goals

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nano_hexapod_elements.png +

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Figure 1: Received top and bottom nano-hexapod’s plates

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fixation_flexible_joints.png +

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Figure 2: Received top and bottom nano-hexapod’s plates

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+ + +
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location_bot_flex.png +

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Figure 3: Received top and bottom nano-hexapod’s plates

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location_top_flexible_joints.png +

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Figure 4: Received top and bottom nano-hexapod’s plates

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specifications_flexible_joints.png +

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Figure 5: Received top and bottom nano-hexapod’s plates

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2 Mounting Bench

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mounting_hexapod_cut.png +

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Figure 6: Received top and bottom nano-hexapod’s plates

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center_part_hexapod_mounting.jpg +

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Figure 7: Received top and bottom nano-hexapod’s plates

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3 Mounting Procedure

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3.1 With Encoders on the Struts

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  1. Fix the bottom plate with the cylindrical tool
    2. +
  2. Put the top plate on the granite
    3. +
  3. Put the cylindrical tool and bottom plate on top of the top plate (Figure 10). +This position the bottom plate with respect to the top plate in X, Y, Z, Rx, Ry
    4. +
  4. Put the pin to position/fix the Rz. +Now the two plates should be position and clamped together
    5. +
  5. Fix the 6 struts
    6. +
  6. Remove the pin and the tool
    7. +
  7. Put the nano-hexapod in place
    8. +
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3.2 With Encoders on the Plates

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4 Nano-Hexapod Mounting

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4.1 Plates

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nano_hexapod_plates.jpg +

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Figure 8: Received top and bottom nano-hexapod’s plates

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plates_tolerences.jpg +

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Figure 9: Bottom plate on the measurement granite (FARO arm). Zoom on the main feature of the plate

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4.2 Mounting Tool

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mounting_tool_hexapod_bot_view.jpg +

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Figure 10: Bottom and top plates mounted together with the special tool

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mounting_tool_hexapod_top_view.jpg +

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Figure 11: Bottom and top plates mounted together with the special tool (top view)

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4.3 Mounted Hexapod

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nano_hexapod_mounted.jpg +

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Figure 12: Mounted Nano-Hexapod

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Author: Dehaeze Thomas

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Created: 2021-06-15 mar. 09:32

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Created: 2021-06-15 mar. 13:22

diff --git a/nass-nano-hexapod-assembly.org b/nass-nano-hexapod-assembly.org index 2577178..9a87824 100644 --- a/nass-nano-hexapod-assembly.org +++ b/nass-nano-hexapod-assembly.org @@ -50,3 +50,95 @@ #+end_export #+latex: \clearpage + +* Mounting Goals + +#+name: fig:nano_hexapod_elements +#+caption: Received top and bottom nano-hexapod's plates +#+attr_latex: :width \linewidth +[[file:figs/nano_hexapod_elements.png]] + +#+name: fig:fixation_flexible_joints +#+caption: Received top and bottom nano-hexapod's plates +#+attr_latex: :width 0.5\linewidth +[[file:figs/fixation_flexible_joints.png]] + +#+name: fig:location_bot_flex +#+caption: Received top and bottom nano-hexapod's plates +#+attr_latex: :width 0.6\linewidth +[[file:figs/location_bot_flex.png]] + +#+name: fig:location_top_flexible_joints +#+caption: Received top and bottom nano-hexapod's plates +#+attr_latex: :width 0.6\linewidth +[[file:figs/location_top_flexible_joints.png]] + +#+name: fig:specifications_flexible_joints +#+caption: Received top and bottom nano-hexapod's plates +#+attr_latex: :width 0.3\linewidth +[[file:figs/specifications_flexible_joints.png]] + +* Mounting Bench + + +#+name: fig:mounting_hexapod_cut +#+caption: Received top and bottom nano-hexapod's plates +#+attr_latex: :width \linewidth +[[file:figs/mounting_hexapod_cut.png]] + +#+name: fig:center_part_hexapod_mounting +#+caption: Received top and bottom nano-hexapod's plates +#+attr_latex: :width \linewidth +[[file:figs/center_part_hexapod_mounting.jpg]] + +* Mounting Procedure + +** With Encoders on the Struts +1. Fix the bottom plate with the cylindrical tool +2. Put the top plate on the granite +3. Put the cylindrical tool and bottom plate on top of the top plate (Figure [[fig:mounting_tool_hexapod_bot_view]]). + This position the bottom plate with respect to the top plate in X, Y, Z, Rx, Ry +4. Put the pin to position/fix the Rz. + Now the two plates should be position and clamped together +5. Fix the 6 struts +6. Remove the pin and the tool +7. Put the nano-hexapod in place + +** With Encoders on the Plates + +* Nano-Hexapod Mounting +<> + +** Introduction :ignore: + + +** Plates + +#+name: fig:nano_hexapod_plates +#+caption: Received top and bottom nano-hexapod's plates +#+attr_latex: :width \linewidth +[[file:figs/nano_hexapod_plates.jpg]] + +#+name: fig:plates_tolerences +#+caption: Bottom plate on the measurement granite (FARO arm). Zoom on the main feature of the plate +#+attr_latex: :width \linewidth +[[file:figs/plates_tolerences.jpg]] + +** Mounting Tool + +#+name: fig:mounting_tool_hexapod_bot_view +#+caption: Bottom and top plates mounted together with the special tool +#+attr_latex: :width \linewidth +[[file:figs/mounting_tool_hexapod_bot_view.jpg]] + +#+name: fig:mounting_tool_hexapod_top_view +#+caption: Bottom and top plates mounted together with the special tool (top view) +#+attr_latex: :width \linewidth +[[file:figs/mounting_tool_hexapod_top_view.jpg]] + +** Mounted Hexapod + +#+name: fig:nano_hexapod_mounted +#+caption: Mounted Nano-Hexapod +#+attr_latex: :width \linewidth +[[file:figs/nano_hexapod_mounted.jpg]] diff --git a/nass-nano-hexapod-assembly.pdf b/nass-nano-hexapod-assembly.pdf new file mode 100644 index 0000000..524bb7f Binary files /dev/null and b/nass-nano-hexapod-assembly.pdf differ