Add Figures

.gitattributes

@@ -0,0 +1,3 @@
+*.pdf binary
+*.svg binary
+*.mat binary

.gitignore

@@ -1,5 +1,3 @@
-mat/
-figures/
 ltximg/
 slprj/
 matlab/slprj/

figs/inkscape/convert_svg.sh

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+#!/bin/bash
+
+# Directory containing SVG files
+INPUT_DIR="."
+
+# Loop through all SVG files in the directory
+for svg_file in "$INPUT_DIR"/*.svg; do
+    # Check if there are SVG files in the directory
+    if [ -f "$svg_file" ]; then
+        # Output PDF file name
+        pdf_file="../${svg_file%.svg}.pdf"
+        png_file="../${svg_file%.svg}"
+        
+        # Convert SVG to PDF using Inkscape
+        inkscape "$svg_file" --export-filename="$pdf_file" && \
+            pdftocairo -png -singlefile -cropbox "$pdf_file" "$png_file"
+    fi
+done

figs/inkscape/detail_design_simscape_encoder.svg

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+             d="m 2.421875,-4.8125 c 0,-0.234375 0,-0.5625 -0.4375,-0.859375 C 1.65625,-5.890625 1.125,-5.96875 0.78125,-5.96875 c -0.109375,0 -0.1875,0 -0.1875,0.109375 0,0.09375 0.0625,0.09375 0.125,0.109375 0.734375,0.046875 1.015625,0.390625 1.078125,0.6875 0.015625,0.078125 0.015625,0.140625 0.015625,0.25 v 1.671875 c 0,0.359375 0,0.875 0.921875,1.15625 -0.4375,0.125 -0.78125,0.34375 -0.890625,0.75 C 1.8125,-1.125 1.8125,-1.078125 1.8125,-0.828125 v 1.4375 c 0,0.53125 0,0.609375 -0.265625,0.875 C 1.53125,1.5 1.3125,1.734375 0.75,1.765625 0.640625,1.78125 0.59375,1.78125 0.59375,1.875 c 0,0.109375 0.078125,0.109375 0.1875,0.109375 0.859375,0 1.625,-0.375 1.640625,-1 v -1.59375 c 0,-0.546875 0,-0.734375 0.234375,-0.953125 C 2.921875,-1.796875 3.203125,-1.859375 3.46875,-1.875 3.578125,-1.890625 3.640625,-1.890625 3.640625,-1.984375 3.640625,-2.09375 3.5625,-2.09375 3.5,-2.109375 2.609375,-2.15625 2.421875,-2.703125 2.421875,-2.9375 Z m 0,0"
+             id="path8-1"
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+</svg>

nass-design.org

@@ -15,13 +15,14 @@
 
 #+LaTeX_CLASS: scrreprt
 #+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]
-#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
+#+LATEX_HEADER: \input{preamble.tex}
+#+LATEX_HEADER_EXTRA: \input{preamble_extra.tex}
 #+LATEX_HEADER_EXTRA: \bibliography{nass-design.bib}
 
 #+BIND: org-latex-bib-compiler "biber"
 
 #+PROPERTY: header-args:matlab  :session *MATLAB*
-#+PROPERTY: header-args:matlab+ :comments org
+#+PROPERTY: header-args:matlab+ :comments no
 #+PROPERTY: header-args:matlab+ :exports none
 #+PROPERTY: header-args:matlab+ :results none
 #+PROPERTY: header-args:matlab+ :eval no-export
@@ -44,12 +45,6 @@
 #+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
 :END:
 
-#+begin_export html
-  <hr>
-  <p>This report is also available as a <a href="./nass-design.pdf">pdf</a>.</p>
-  <hr>
-#+end_export
-
 #+latex: \clearpage
 
 * Build                                                             :noexport:
@@ -96,59 +91,416 @@
 #+END_SRC
 
 * Notes                                                             :noexport:
+** Notes
+Prefix is =detail_design=
+
+- [ ] Look [[https://gitlab.esrf.fr/dehaeze/nass-fem/-/tree/master?ref_type=heads][here]] for the struts, encoder support, etc...
+- [ ] file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/nano_hexapod.org
+- [ ] Design of the flexible joints
+- [ ] Nice pictures: file:/home/thomas/Cloud/work-projects/ID31-NASS/nano-hexapod
+- [ ] Mounting of struts is explained later in file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C3-test-bench-struts/test-bench-struts.org
+- [ ] Mounting of hexapod is explained in file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C4-test-bench-nano-hexapod/test-bench-nano-hexapod.org
+
+*Outline*:
+- Design goals:
+  - Position =bi= and =si=
+  - Maximum height of 95mm
+  - As close as possible to "perfect" stewart platform: flexible modes at high frequency
+  - Summary of specifications
+  - Easy mounting, easy change of strut in case of failure
+- Plates:
+  - Maximize frequency of flexible modes (show FEM)
+  - Good tolerances for interfaces with flexible joints
+    Positioning of =bi= and orientation =si=
+- Flexible joints:
+- Strut mounting (later described)
+- Encoder support:
+  - Possible to fix them to the struts or to the plates
+
+** TODO [#C] Summary of the specifications
+
+Flexible joints:
+- Axial Stiffness
+- Bending Stiffness
+- Stroke
+
+APA:
+- Axial stiffness
+
+Encoders:
+- Stroke, Noise
+
+Plates:
+- Maximize flexible modes
+- Correct positioning of bi and si => precisely know the Jacobian matrix
+
+** TODO [#C] Explain the good wanted flatness for the APA
+
+#+begin_quote
+Sur le plan on a une co-planéitée de 0.08mm entre les 2 interfaces (ce
+qui est pas très exigent avant la découpe intérieure au fil, mais qui
+est pas si évidente que ça si la matière a des contraintes interne). En
+plus, ça peut évoluer après collage des piezos (c'est probablement ce
+qu'on regardait sur ta photo.)
+
+Je pense qu'on avait demandé ça pour ne pas consommer la course des flex
+seulement pour compenser les défauts d'usinage/collage. 20um c’était
+vraiment du bon boulot.
+
+Le plans que Damien avait fait du corps de l'APA est en pj si tu veux
+illustrer.
+#+end_quote
+
+** TODO [#C] Understand why hexapod stiffness (maximizing suspension modes) is often the main design goal
+
+See for instance cite:afzali-far16_vibrat_dynam_isotr_hexap_analy_studies.
+
+Possible reasons:
+- ease of designing a controller with bandwidth < first suspension mode
+- when controlling <6DoF, above the resonance the "off-axis" motion may be very large even though the "on-axis" is controlled.
+
+Not the case for the following references (control bandwidth > suspension mode):
+- cite:hanieh03_activ_stewar
+
+Example of claims that resonances impose limitation to control bandwidth:
+From cite:babakhani12_activ_dampin_vibrat_high_precis_motion_system (page i)
+#+begin_quote
+Speed and accuracy in motion systems can be attained by implementing a high-bandwidth motion controller.
+The resonances in the plant transfer impose a limit on the achievable bandwidth of such a controller.
+#+end_quote
+
+** DONE [#B] Put all the figure in the document
+CLOSED: [2025-04-21 Mon 14:21]
+
+*Design*:
+- [X] Overview
+  [[file:figs/detail_design_nano_hexapod_elements.png]]
+- [X] Final design of struts
+  [[file:figs/detail_design_strut_without_enc.jpg]]
+  [[file:figs/detail_design_strut_with_enc.jpg]]
+- [X] Modification of APA300ML for easier mounting purposes
+  [[file:figs/detail_design_apa_mod.jpg]]
+- [X] Plate design
+  [[file:figs/detail_design_top_plate.jpg]]
+- [X] Design of plates for positioning struts
+  [[file:figs/detail_design_fixation_flexible_joints.png]]
+  [[file:figs/detail_design_location_bot_flex.png]]
+  [[file:figs/detail_design_location_top_flexible_joints.png]]
+- [X] Design of Flexible joints for fixation to the plates / precise positioning of center of rotation
+  [[file:figs/detail_design_specifications_flexible_joints.png]]
+- [X] Encoder on plates
+  [[file:figs/detail_design_encoders_plates.jpg]]
+  [[file:figs/detail_design_enc_plates.jpg]]
+- [X] Encoder on struts
+  [[file:figs/detail_design_enc_struts.jpg]]
+
+*FEM*:
+- [X] FEM of nano-hexapod: rigid body modes
+  [[file:figs/detail_design_fem_rigid_body_mode.jpg]]
+- [X] FEM of struts => maybe issue with encoder => several options
+  [[file:figs/detail_design_fem_strut_mode.jpg]]
+- [X] FEM of plates
+  [[file:figs/detail_design_fem_plate_mode.jpg]]
+- [X] FEM of encoder support
+  [[file:figs/detail_design_fem_encoder_fix.png]]
+
+*Multi-Body Model*:
+- [X] Joint Model
+  [[file:figs/detail_design_simscape_model_flexible_joint.png]]
+- [X] Encoder model
+  [[file:figs/detail_design_simscape_encoder.png]]
+  [[file:figs/detail_design_simscape_encoder_disp.png]]
+- [X] Screenshot of Simscape Model
+  [[file:figs/detail_design_simscape_encoder_plates.png]]
+  [[file:figs/detail_design_simscape_encoder_struts.png]]
+
+20 figures
+
+** DONE [#A] Make detailed outline
+CLOSED: [2025-04-21 Mon 14:13]
+
+- *Design goals*:
+  - Position =bi= and =si=
+  - Maximum height of 95mm
+  - As close as possible to "perfect" stewart platform: flexible modes at high frequency
+  - Easy mounting, easy change of strut in case of failure
+- *Mechanical Design*
+  - Struts:
+    - Flexible joints: interface with plates, etc..
+    - APA: modification for better mounting
+    - Encoder support:
+  - Plates:
+    - Maximize frequency of flexible modes (show FEM)
+    - Good tolerances for interfaces with flexible joints
+      Positioning of =bi= and orientation =si=
+  - Obtained design:
+    - FEM of complete system
+    - Show modes of the struts
+    - Alternative encoder position: on the plates
+- *Multi body Model*:
+  - Complete model: two plates, 6 joints, 6 actuators, 6 encoders
+  - Joint Model
+  - APA Model
+  - Encoder model
+  - Say that obtained dynamics was considered good + possible to perform simulations of tomography experiments with same performance as during the conceptual design
 
 * Introduction                                                        :ignore:
 
+#+name: fig:detail_design_nano_hexapod_elements
+#+caption: Obtained mechanical design of the Active platform, the "nano-hexapod"
+#+attr_latex: :width 0.95\linewidth
+[[file:figs/detail_design_nano_hexapod_elements.png]]
+
+
+*Design goals*:
+- Position =bi= and =si=
+- Maximum height of 95mm
+- As close as possible to "perfect" stewart platform: flexible modes at high frequency
+- Easy mounting, easy change of strut in case of failure
+
+
 Presentation of the obtained design:
 - Fixation
+- Section on: Complete strut
 - Cable management
 - Plates design
 - FEM results
-- Table some pictures from here: [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-nano-hexapod-assembly/nass-nano-hexapod-assembly.org][nass-nano-hexapod-assembly]]
 - Explain again the different specifications in terms of space, payload, etc..
 - CAD view of the nano-hexapod
 - Chosen geometry, materials, ease of mounting, cabling, ...
 - Validation on Simscape with accurate model?
 
-#+name: tab:nass_design_section_matlab_code
+* Mechanical Design
-#+caption: Report sections and corresponding Matlab files
+<<sec:detail_design_mechanics>>
-#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
+
-#+attr_latex: :center t :booktabs t
+** Struts
-| *Sections*                       | *Matlab File*          |
+**** Introduction                                                  :ignore:
-|----------------------------------+------------------------|
+
-| Section ref:sec:nass_design_ | =nass_design_1_.m= |
+#+name: fig:detail_design_strut
+#+caption: Design of the Nano-Hexapod struts. Before (\subref{fig:detail_design_strut_without_enc}) and after (\subref{fig:detail_design_strut_with_enc}) encoder integration.
+#+attr_latex: :options [htbp]
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_strut_without_enc}Before encoder integration}
+#+attr_latex: :options {0.49\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.95\linewidth
+[[file:figs/detail_design_strut_without_enc.jpg]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_strut_with_enc}With the mounted encoder}
+#+attr_latex: :options {0.49\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.95\linewidth
+[[file:figs/detail_design_strut_with_enc.jpg]]
+#+end_subfigure
+#+end_figure
+
+**** Flexible joints
+
+Flexible joints: X5CrNiCuNb16-4 (F16Ph)
+- high yield strength: specified >1GPa using heat treatment
+- high fatigue resistance
+
+#+name: fig:detail_design_apa_joints
+#+caption: Two main components of the struts: the amplified piezoelectric actuator (\subref{fig:detail_design_apa}) and the flexible joint (\subref{fig:detail_design_flexible_joint}).
+#+attr_latex: :options [htbp]
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_apa}Amplified Piezoelectric Actuator}
+#+attr_latex: :options {0.49\textwidth}
+#+begin_subfigure
+#+attr_latex: :scale 1
+[[file:figs/detail_design_apa.png]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_flexible_joint}Flexible joint}
+#+attr_latex: :options {0.49\textwidth}
+#+begin_subfigure
+#+attr_latex: :scale 1
+[[file:figs/detail_design_flexible_joint.png]]
+#+end_subfigure
+#+end_figure
+
+**** Piezoelectric Amplified Actuators
+
+APA: modification for better mounting
+
+**** Encoder support
+
+All other parts are made of aluminum.
+
+** Plates
+
+Plates: X30Cr13
+- high hardness to not deform
 
 
-* Amplified Piezoelectric Design
+- Maximize frequency of flexible modes (show FEM)
+- Good tolerances for interfaces with flexible joints
+  Positioning of =bi= and orientation =si=
+
+#+name: fig:detail_design_top_plate
+#+caption: The mechanical design for the top platform incorporates precisely positioned V-grooves for the joint interfaces (displayed in red). The purpose of the encoder interface (shown in green) is detailed later.
+#+attr_latex: :scale 1
+[[file:figs/detail_design_top_plate.png]]
+
+The cylindrical component is located (or constrained) within the V-groove via two distinct line contacts.
+
+#+name: fig:detail_design_fixation_flexible_joints
+#+caption: Fixation of the flexible points to the nano-hexapod plates. Both top and bottom flexible joints are clamped to the plates as shown in (\subref{fig:detail_design_fixation_flexible_joints}). While the top flexible joint is in contact with the top plate for precise positioning of its center of rotation (\subref{fig:detail_design_location_top_flexible_joints}), the bottom joint is just oriented (\subref{fig:detail_design_location_bot_flex}).
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_fixation_flexible_joints}Flexible Joint Clamping}
+#+attr_latex: :options {0.33\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.99\linewidth
+[[file:figs/detail_design_fixation_flexible_joints.png]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_location_top_flexible_joints}Top positioning}
+#+attr_latex: :options {0.33\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.99\linewidth
+[[file:figs/detail_design_location_top_flexible_joints.png]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_location_bot_flex}Bottom Positioning}
+#+attr_latex: :options {0.33\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.99\linewidth
+[[file:figs/detail_design_location_bot_flex.png]]
+#+end_subfigure
+#+end_figure
+
+** Finite Element Analysis
+
+
+#+name: fig:detail_design_enc_struts
+#+caption: Obtained Nano-Hexapod design
+#+attr_latex: :width 0.9\linewidth
+[[file:figs/detail_design_enc_struts.jpg]]
+
+- FEM of complete system
+- Show modes of the struts
+
+#+name: fig:detail_design_fem_nano_hexapod
+#+caption: Measurement of strut flexible modes. First six modes are "suspension" modes in which the top plate behaves as a rigid body (\subref{fig:detail_design_fem_rigid_body_mode}). Then modes of the struts have natural frequencies from $205\,\text{Hz}$ to $420\,\text{Hz}$ (\subref{fig:detail_design_fem_strut_mode}). Finally, the first flexible mode of the top plate is at $650\,\text{Hz}$ (\subref{fig:detail_design_fem_plate_mode})
+#+attr_latex: :options [htbp]
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_fem_rigid_body_mode}Suspension modes}
+#+attr_latex: :options {0.33\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.9\linewidth
+[[file:figs/detail_design_fem_rigid_body_mode.jpg]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_fem_strut_mode}Strut - Local modes}
+#+attr_latex: :options {0.33\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.9\linewidth
+[[file:figs/detail_design_fem_strut_mode.jpg]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_fem_plate_mode}Top plate modes}
+#+attr_latex: :options {0.33\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.9\linewidth
+[[file:figs/detail_design_fem_plate_mode.jpg]]
+#+end_subfigure
+#+end_figure
+
+** Obtained Design
+
+- Alternative encoder position: on the plates
+- Support made of aluminum
+
+#+name: fig:detail_design_enc_plates_design
+#+caption: Alternative way of using the encoders: they are fixed directly to the plates.
+#+attr_latex: :options [htbp]
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_enc_plates}Nano-Hexapod with encoders fixed to the plates}
+#+attr_latex: :options {0.59\textwidth}
+#+begin_subfigure
+#+attr_latex: :height 5cm
+[[file:figs/detail_design_enc_plates.jpg]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_encoders_plates}Zoom on encoder fixation}
+#+attr_latex: :options {0.39\textwidth}
+#+begin_subfigure
+#+attr_latex: :height 5cm
+[[file:figs/detail_design_encoders_plates.jpg]]
+#+end_subfigure
+#+end_figure
+
+
+#+name: fig:detail_design_fem_encoder_fix
+#+caption: Finite Element Analysis of the encoder supports. Encoder inertia was taken into account.
+[[file:figs/detail_design_fem_encoder_fix.png]]
+
+* Multi-Body Model
 :PROPERTIES:
-:HEADER-ARGS:matlab+: :tangle matlab/nass_design_1_.m
+:HEADER-ARGS:matlab+: :tangle matlab/detail_design_1_model.m
 :END:
-<<sec:nass_design_mechanics>>
+<<sec:detail_design_model>>
+
+*Multi body Model*:
+- Complete model: two plates, 6 joints, 6 actuators, 6 encoders
+- Joint Model
+- APA Model
+- Encoder model
+- Say that obtained dynamics was considered good + possible to perform simulations of tomography experiments with same performance as during the conceptual design
+
 ** Introduction                                                      :ignore:
 
-** Matlab Init                                            :noexport:ignore:
+Two configurations:
-#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+- Encoders fixed to the struts
-<<matlab-dir>>
+- Encoders fixed to the plates
-#+end_src
 
-#+begin_src matlab :exports none :results silent :noweb yes
+#+name: fig:detail_design_simscape_encoder
-<<matlab-init>>
+#+caption: 3D representation of the multi-body model. There are two configurations: encoders fixed to the struts (\subref{fig:detail_design_simscape_encoder_struts}) and encoders fixed to the plates (\subref{fig:detail_design_simscape_encoder_plates}).
-#+end_src
+#+attr_latex: :options [htbp]
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_simscape_encoder_struts}Encoders fixed to the struts}
+#+attr_latex: :options {0.49\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.95\linewidth
+[[file:figs/detail_design_simscape_encoder_struts.png]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_simscape_encoder_plates}Encoders fixed to the plates}
+#+attr_latex: :options {0.49\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.95\linewidth
+[[file:figs/detail_design_simscape_encoder_plates.png]]
+#+end_subfigure
+#+end_figure
 
-#+begin_src matlab :tangle no :noweb yes
-<<m-init-path>>
-#+end_src
 
-#+begin_src matlab :eval no :noweb yes
+** Flexible Joints
-<<m-init-path-tangle>>
+
-#+end_src
+#+name: fig:detail_design_simscape_model_flexible_joint
+#+caption: Multi-Body (using the Simscape software) model of the flexible joints. A 4-DoFs model is shown.
+#+attr_latex: :scale 1
+[[file:figs/detail_design_simscape_model_flexible_joint.png]]
+
+** Amplified Piezoelectric Actuators
+
+
+
+** Encoders
+
+#+name: fig:detail_design_simscape_encoder_model
+#+caption: Representation of the encoder model in the multi-body model. Measurement $d_i$ corresponds to the $x$ position of the encoder frame $\{E\}$ expresssed in the ruller frame $\{R\}$ (\subref{fig:detail_design_simscape_encoder}). A rotation of the encoder therefore induces a measured displacement (\subref{fig:detail_design_simscape_encoder_disp}).
+#+attr_latex: :options [htbp]
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_simscape_encoder}Aligned encoder and ruler}
+#+attr_latex: :options {0.49\textwidth}
+#+begin_subfigure
+#+attr_latex: :scale 1
+[[file:figs/detail_design_simscape_encoder.png]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_design_simscape_encoder_disp}Rotation of the encoder head}
+#+attr_latex: :options {0.49\textwidth}
+#+begin_subfigure
+#+attr_latex: :scale 1
+[[file:figs/detail_design_simscape_encoder_disp.png]]
+#+end_subfigure
+#+end_figure
 
-#+begin_src matlab :noweb yes
-<<m-init-other>>
-#+end_src
 
 * Conclusion
-<<sec:nass_design_conclusion>>
+<<sec:detail_design_conclusion>>
 
 * Bibliography                                                        :ignore:
 #+latex: \printbibliography[heading=bibintoc,title={Bibliography}]

nass-design.tex

@@ -1,8 +1,9 @@
-% Created 2024-03-19 Tue 11:13
+% Created 2025-04-21 Mon 16:49
 % Intended LaTeX compiler: pdflatex
 \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
 
 \input{preamble.tex}
+\input{preamble_extra.tex}
 \bibliography{nass-design.bib}
 \author{Dehaeze Thomas}
 \date{\today}
@@ -12,7 +13,7 @@
  pdftitle={Nano Hexapod - Obtained Design},
  pdfkeywords={},
  pdfsubject={},
- pdfcreator={Emacs 29.2 (Org mode 9.7)}, 
+ pdfcreator={Emacs 30.1 (Org mode 9.7.26)}, 
  pdflang={English}}
 \usepackage{biblatex}
 
@@ -22,33 +23,250 @@
 \tableofcontents
 
 \clearpage
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_nano_hexapod_elements.png}
+\caption{\label{fig:detail_design_nano_hexapod_elements}Obtained mechanical design of the Active platform, the ``nano-hexapod''}
+\end{figure}
+
+
+\textbf{Design goals}:
+\begin{itemize}
+\item Position \texttt{bi} and \texttt{si}
+\item Maximum height of 95mm
+\item As close as possible to ``perfect'' stewart platform: flexible modes at high frequency
+\item Easy mounting, easy change of strut in case of failure
+\end{itemize}
+
+
 Presentation of the obtained design:
 \begin{itemize}
 \item Fixation
+\item Section on: Complete strut
 \item Cable management
 \item Plates design
 \item FEM results
-\item Table some pictures from here: \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-nano-hexapod-assembly/nass-nano-hexapod-assembly.org}{nass-nano-hexapod-assembly}
 \item Explain again the different specifications in terms of space, payload, etc..
 \item CAD view of the nano-hexapod
 \item Chosen geometry, materials, ease of mounting, cabling, \ldots{}
 \item Validation on Simscape with accurate model?
 \end{itemize}
+\chapter{Mechanical Design}
+\label{sec:detail_design_mechanics}
+\section{Struts}
+\begin{figure}[htbp]
+\begin{subfigure}{0.49\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_strut_without_enc.jpg}
+\end{center}
+\subcaption{\label{fig:detail_design_strut_without_enc}Before encoder integration}
+\end{subfigure}
+\begin{subfigure}{0.49\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_strut_with_enc.jpg}
+\end{center}
+\subcaption{\label{fig:detail_design_strut_with_enc}With the mounted encoder}
+\end{subfigure}
+\caption{\label{fig:detail_design_strut}Design of the Nano-Hexapod struts. Before (\subref{fig:detail_design_strut_without_enc}) and after (\subref{fig:detail_design_strut_with_enc}) encoder integration.}
+\end{figure}
+\subsubsection{Flexible joints}
 
-\begin{table}[htbp]
+Flexible joints: X5CrNiCuNb16-4 (F16Ph)
-\caption{\label{tab:nass_design_section_matlab_code}Report sections and corresponding Matlab files}
+\begin{itemize}
+\item high yield strength: specified >1GPa using heat treatment
+\item high fatigue resistance
+\end{itemize}
+
+\begin{figure}[htbp]
+\begin{subfigure}{0.49\textwidth}
+\begin{center}
+\includegraphics[scale=1,scale=1]{figs/detail_design_apa.png}
+\end{center}
+\subcaption{\label{fig:detail_design_apa}Amplified Piezoelectric Actuator}
+\end{subfigure}
+\begin{subfigure}{0.49\textwidth}
+\begin{center}
+\includegraphics[scale=1,scale=1]{figs/detail_design_flexible_joint.png}
+\end{center}
+\subcaption{\label{fig:detail_design_flexible_joint}Flexible joint}
+\end{subfigure}
+\caption{\label{fig:detail_design_apa_joints}Two main components of the struts: the amplified piezoelectric actuator (\subref{fig:detail_design_apa}) and the flexible joint (\subref{fig:detail_design_flexible_joint}).}
+\end{figure}
+\subsubsection{Piezoelectric Amplified Actuators}
+
+APA: modification for better mounting
+\subsubsection{Encoder support}
+
+All other parts are made of aluminum.
+\section{Plates}
+
+Plates: X30Cr13
+\begin{itemize}
+\item high hardness to not deform
+\end{itemize}
+
+
+\begin{itemize}
+\item Maximize frequency of flexible modes (show FEM)
+\item Good tolerances for interfaces with flexible joints
+Positioning of \texttt{bi} and orientation \texttt{si}
+\end{itemize}
+
+\begin{figure}[htbp]
 \centering
-\begin{tabularx}{0.6\linewidth}{lX}
+\includegraphics[scale=1,scale=1]{figs/detail_design_top_plate.png}
-\toprule
+\caption{\label{fig:detail_design_top_plate}The mechanical design for the top platform incorporates precisely positioned V-grooves for the joint interfaces (displayed in red). The purpose of the encoder interface (shown in green) is detailed later.}
-\textbf{Sections} & \textbf{Matlab File}\\
+\end{figure}
-\midrule
+
-Section \ref{sec:nass_design}\_ & \texttt{nass\_design\_1\_.m}\\
+The cylindrical component is located (or constrained) within the V-groove via two distinct line contacts.
-\bottomrule
+
-\end{tabularx}
+\begin{figure}
-\end{table}
+\begin{subfigure}{0.33\textwidth}
-\chapter{Amplified Piezoelectric Design}
+\begin{center}
-\label{sec:nass_design_mechanics}
+\includegraphics[scale=1,width=0.99\linewidth]{figs/detail_design_fixation_flexible_joints.png}
+\end{center}
+\subcaption{\label{fig:detail_design_fixation_flexible_joints}Flexible Joint Clamping}
+\end{subfigure}
+\begin{subfigure}{0.33\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.99\linewidth]{figs/detail_design_location_top_flexible_joints.png}
+\end{center}
+\subcaption{\label{fig:detail_design_location_top_flexible_joints}Top positioning}
+\end{subfigure}
+\begin{subfigure}{0.33\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.99\linewidth]{figs/detail_design_location_bot_flex.png}
+\end{center}
+\subcaption{\label{fig:detail_design_location_bot_flex}Bottom Positioning}
+\end{subfigure}
+\caption{\label{fig:detail_design_fixation_flexible_joints}Fixation of the flexible points to the nano-hexapod plates. Both top and bottom flexible joints are clamped to the plates as shown in (\subref{fig:detail_design_fixation_flexible_joints}). While the top flexible joint is in contact with the top plate for precise positioning of its center of rotation (\subref{fig:detail_design_location_top_flexible_joints}), the bottom joint is just oriented (\subref{fig:detail_design_location_bot_flex}).}
+\end{figure}
+\section{Finite Element Analysis}
+
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=0.9\linewidth]{figs/detail_design_enc_struts.jpg}
+\caption{\label{fig:detail_design_enc_struts}Obtained Nano-Hexapod design}
+\end{figure}
+
+\begin{itemize}
+\item FEM of complete system
+\item Show modes of the struts
+\end{itemize}
+
+\begin{figure}[htbp]
+\begin{subfigure}{0.33\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.9\linewidth]{figs/detail_design_fem_rigid_body_mode.jpg}
+\end{center}
+\subcaption{\label{fig:detail_design_fem_rigid_body_mode}Suspension modes}
+\end{subfigure}
+\begin{subfigure}{0.33\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.9\linewidth]{figs/detail_design_fem_strut_mode.jpg}
+\end{center}
+\subcaption{\label{fig:detail_design_fem_strut_mode}Strut - Local modes}
+\end{subfigure}
+\begin{subfigure}{0.33\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.9\linewidth]{figs/detail_design_fem_plate_mode.jpg}
+\end{center}
+\subcaption{\label{fig:detail_design_fem_plate_mode}Top plate modes}
+\end{subfigure}
+\caption{\label{fig:detail_design_fem_nano_hexapod}Measurement of strut flexible modes. First six modes are ``suspension'' modes in which the top plate behaves as a rigid body (\subref{fig:detail_design_fem_rigid_body_mode}). Then modes of the struts have natural frequencies from \(205\,\text{Hz}\) to \(420\,\text{Hz}\) (\subref{fig:detail_design_fem_strut_mode}). Finally, the first flexible mode of the top plate is at \(650\,\text{Hz}\) (\subref{fig:detail_design_fem_plate_mode})}
+\end{figure}
+\section{Obtained Design}
+
+\begin{itemize}
+\item Alternative encoder position: on the plates
+\item Support made of aluminum
+\end{itemize}
+
+\begin{figure}[htbp]
+\begin{subfigure}{0.59\textwidth}
+\begin{center}
+\includegraphics[scale=1,height=5cm]{figs/detail_design_enc_plates.jpg}
+\end{center}
+\subcaption{\label{fig:detail_design_enc_plates}Nano-Hexapod with encoders fixed to the plates}
+\end{subfigure}
+\begin{subfigure}{0.39\textwidth}
+\begin{center}
+\includegraphics[scale=1,height=5cm]{figs/detail_design_encoders_plates.jpg}
+\end{center}
+\subcaption{\label{fig:detail_design_encoders_plates}Zoom on encoder fixation}
+\end{subfigure}
+\caption{\label{fig:detail_design_enc_plates_design}Alternative way of using the encoders: they are fixed directly to the plates.}
+\end{figure}
+
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/detail_design_fem_encoder_fix.png}
+\caption{\label{fig:detail_design_fem_encoder_fix}Finite Element Analysis of the encoder supports. Encoder inertia was taken into account.}
+\end{figure}
+\chapter{Multi-Body Model}
+\label{sec:detail_design_model}
+
+\textbf{Multi body Model}:
+\begin{itemize}
+\item Complete model: two plates, 6 joints, 6 actuators, 6 encoders
+\item Joint Model
+\item APA Model
+\item Encoder model
+\item Say that obtained dynamics was considered good + possible to perform simulations of tomography experiments with same performance as during the conceptual design
+\end{itemize}
+
+Two configurations:
+\begin{itemize}
+\item Encoders fixed to the struts
+\item Encoders fixed to the plates
+\end{itemize}
+
+\begin{figure}[htbp]
+\begin{subfigure}{0.49\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_simscape_encoder_struts.png}
+\end{center}
+\subcaption{\label{fig:detail_design_simscape_encoder_struts}Encoders fixed to the struts}
+\end{subfigure}
+\begin{subfigure}{0.49\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_simscape_encoder_plates.png}
+\end{center}
+\subcaption{\label{fig:detail_design_simscape_encoder_plates}Encoders fixed to the plates}
+\end{subfigure}
+\caption{\label{fig:detail_design_simscape_encoder}3D representation of the multi-body model. There are two configurations: encoders fixed to the struts (\subref{fig:detail_design_simscape_encoder_struts}) and encoders fixed to the plates (\subref{fig:detail_design_simscape_encoder_plates}).}
+\end{figure}
+\section{Flexible Joints}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,scale=1]{figs/detail_design_simscape_model_flexible_joint.png}
+\caption{\label{fig:detail_design_simscape_model_flexible_joint}Multi-Body (using the Simscape software) model of the flexible joints. A 4-DoFs model is shown.}
+\end{figure}
+\section{Amplified Piezoelectric Actuators}
+
+
+
+\section{Encoders}
+
+\begin{figure}[htbp]
+\begin{subfigure}{0.49\textwidth}
+\begin{center}
+\includegraphics[scale=1,scale=1]{figs/detail_design_simscape_encoder.png}
+\end{center}
+\subcaption{\label{fig:detail_design_simscape_encoder}Aligned encoder and ruler}
+\end{subfigure}
+\begin{subfigure}{0.49\textwidth}
+\begin{center}
+\includegraphics[scale=1,scale=1]{figs/detail_design_simscape_encoder_disp.png}
+\end{center}
+\subcaption{\label{fig:detail_design_simscape_encoder_disp}Rotation of the encoder head}
+\end{subfigure}
+\caption{\label{fig:detail_design_simscape_encoder_model}Representation of the encoder model in the multi-body model. Measurement \(d_i\) corresponds to the \(x\) position of the encoder frame \(\{E\}\) expresssed in the ruller frame \(\{R\}\) (\subref{fig:detail_design_simscape_encoder}). A rotation of the encoder therefore induces a measured displacement (\subref{fig:detail_design_simscape_encoder_disp}).}
+\end{figure}
 \chapter{Conclusion}
-\label{sec:nass_design_conclusion}
+\label{sec:detail_design_conclusion}
 \printbibliography[heading=bibintoc,title={Bibliography}]
 \end{document}

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