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@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2021-06-15 mar. 09:32 --> <!-- 2021-06-15 mar. 13:22 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Nano-Hexapod - Assembly</title> <title>Nano-Hexapod - Assembly</title>
<meta name="author" content="Dehaeze Thomas" /> <meta name="author" content="Dehaeze Thomas" />
@ -18,13 +18,179 @@
<a accesskey="H" href="../index.html"> HOME </a> <a accesskey="H" href="../index.html"> HOME </a>
</div><div id="content"> </div><div id="content">
<h1 class="title">Nano-Hexapod - Assembly</h1> <h1 class="title">Nano-Hexapod - Assembly</h1>
<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>
<hr> <hr>
<p>This report is also available as a <a href="./nass-nano-hexapod-assembly.pdf">pdf</a>.</p> <p>This report is also available as a <a href="./nass-nano-hexapod-assembly.pdf">pdf</a>.</p>
<hr> <hr>
<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&rsquo;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&rsquo;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&rsquo;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&rsquo;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&rsquo;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&rsquo;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&rsquo;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&rsquo;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>
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p> <p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2021-06-15 mar. 09:32</p> <p class="date">Created: 2021-06-15 mar. 13:22</p>
</div> </div>
</body> </body>
</html> </html>

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#+end_export #+end_export
#+latex: \clearpage #+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
<<sec: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]]

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