126 lines
4.8 KiB
Org Mode
126 lines
4.8 KiB
Org Mode
#+TITLE: Determination of the optimal nano-hexapod's stiffness
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:DRAWER:
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#+STARTUP: overview
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
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#+HTML_MATHJAX: align: center tagside: right font: TeX
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle no
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:shell :eval no-export
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/org/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results raw replace :buffer no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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:END:
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* Introduction :ignore:
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As shown before, many parameters other than the nano-hexapod itself do influence the plant dynamics:
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- The micro-station compliance (studied [[file:uncertainty_support.org][here]])
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- The payload mass and dynamical properties (studied [[file:uncertainty_payload.org][here]] and [[file:uncertainty_experiment.org][here]])
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- The experimental conditions, mainly the spindle rotation speed (studied [[file:uncertainty_experiment.org][here]])
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As seen before, the stiffness of the nano-hexapod greatly influence the effect of such parameters.
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We wish here to see if we can determine an optimal stiffness of the nano-hexapod such that:
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- Section [[sec:spindle_rotation_speed]]: the change of its dynamics due to the spindle rotation speed is acceptable
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- Section [[sec:micro_station_compliance]]: the support compliance dynamics is not much present in the nano-hexapod dynamics
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- Section [[sec:payload_impedance]]: the change of payload impedance has acceptable effect on the plant dynamics
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* Spindle Rotation Speed
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<<sec:spindle_rotation_speed>>
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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simulinkproject('../');
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#+end_src
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#+begin_src matlab
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open('nass_model.slx')
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#+end_src
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** Conclusion :ignore:
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* Micro-Station Compliance Effect
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<<sec:micro_station_compliance>>
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** Introduction :ignore:
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- take the 6dof compliance of the micro-station
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- simple model + uncertainty
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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simulinkproject('../');
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#+end_src
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#+begin_src matlab
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open('nass_model.slx')
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#+end_src
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** Conclusion :ignore:
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* Payload "Impedance" Effect
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<<sec:payload_impedance>>
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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simulinkproject('../');
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#+end_src
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#+begin_src matlab
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open('nass_model.slx')
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#+end_src
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** Conclusion :ignore:
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