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