diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000..a06e566
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,3 @@
+*.pdf binary
+*.svg binary
+*.mat binary
diff --git a/.gitignore b/.gitignore
index 6b7e1a4..d7a02f8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,3 @@
-mat/
-figures/
ltximg/
slprj/
matlab/slprj/
diff --git a/figs/detail_kinematics_jpl.jpg b/figs/detail_kinematics_jpl.jpg
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diff --git a/nass-geometry.bib b/nass-geometry.bib
index e69de29..66f72d6 100644
--- a/nass-geometry.bib
+++ b/nass-geometry.bib
@@ -0,0 +1,542 @@
+@inproceedings{spanos95_soft_activ_vibrat_isolat,
+ author = {J. Spanos and Z. Rahman and G. Blackwood},
+ title = {A Soft 6-axis Active Vibration Isolator},
+ booktitle = {Proceedings of 1995 American Control Conference - ACC'95},
+ year = 1995,
+ doi = {10.1109/acc.1995.529280},
+ url = {https://doi.org/10.1109/acc.1995.529280},
+ keywords = {parallel robot},
+}
+
+
+
+@inproceedings{rahman98_multiax,
+ author = {Zahidul H. Rahman and John T. Spanos and Robert A. Laskin},
+ title = {Multiaxis vibration isolation, suppression, and steering
+ system for space observational applications},
+ booktitle = {Telescope Control Systems III},
+ year = 1998,
+ doi = {10.1117/12.308821},
+ url = {https://doi.org/10.1117/12.308821},
+ keywords = {parallel robot},
+ month = 5,
+}
+
+
+
+@inproceedings{thayer98_stewar,
+ author = {D. Thayer and J. Vagners},
+ title = {A look at the pole/zero structure of a Stewart platform
+ using special coordinate basis},
+ booktitle = {Proceedings of the 1998 American Control Conference. ACC
+ (IEEE Cat. No.98CH36207)},
+ year = 1998,
+ doi = {10.1109/acc.1998.703595},
+ url = {https://doi.org/10.1109/acc.1998.703595},
+ keywords = {parallel robot},
+}
+
+
+
+@article{thayer02_six_axis_vibrat_isolat_system,
+ author = {Doug Thayer and Mark Campbell and Juris Vagners and Andrew
+ von Flotow},
+ title = {Six-Axis Vibration Isolation System Using Soft Actuators
+ and Multiple Sensors},
+ journal = {Journal of Spacecraft and Rockets},
+ volume = 39,
+ number = 2,
+ pages = {206-212},
+ year = 2002,
+ doi = {10.2514/2.3821},
+ url = {https://doi.org/10.2514/2.3821},
+ keywords = {parallel robot},
+}
+
+
+
+@article{hauge04_sensor_contr_space_based_six,
+ author = {G.S. Hauge and M.E. Campbell},
+ title = {Sensors and Control of a Space-Based Six-Axis Vibration
+ Isolation System},
+ journal = {Journal of Sound and Vibration},
+ volume = 269,
+ number = {3-5},
+ pages = {913-931},
+ year = 2004,
+ doi = {10.1016/s0022-460x(03)00206-2},
+ url = {https://doi.org/10.1016/s0022-460x(03)00206-2},
+ keywords = {parallel robot, favorite},
+}
+
+
+
+@inproceedings{mcinroy99_dynam,
+ author = {J.E. McInroy},
+ title = {Dynamic modeling of flexure jointed hexapods for control
+ purposes},
+ booktitle = {Proceedings of the 1999 IEEE International Conference on
+ Control Applications (Cat. No.99CH36328)},
+ year = 1999,
+ doi = {10.1109/cca.1999.806694},
+ url = {https://doi.org/10.1109/cca.1999.806694},
+ keywords = {parallel robot},
+}
+
+
+
+@article{mcinroy99_precis_fault_toler_point_using_stewar_platf,
+ author = {J.E. McInroy and J.F. O'Brien and G.W. Neat},
+ title = {Precise, Fault-Tolerant Pointing Using a Stewart Platform},
+ journal = {IEEE/ASME Transactions on Mechatronics},
+ volume = 4,
+ number = 1,
+ pages = {91-95},
+ year = 1999,
+ doi = {10.1109/3516.752089},
+ url = {https://doi.org/10.1109/3516.752089},
+ keywords = {parallel robot},
+}
+
+
+
+@article{mcinroy00_desig_contr_flexur_joint_hexap,
+ author = {J.E. McInroy and J.C. Hamann},
+ title = {Design and Control of Flexure Jointed Hexapods},
+ journal = {IEEE Transactions on Robotics and Automation},
+ volume = 16,
+ number = 4,
+ pages = {372-381},
+ year = 2000,
+ doi = {10.1109/70.864229},
+ url = {https://doi.org/10.1109/70.864229},
+ keywords = {parallel robot},
+}
+
+
+
+@inproceedings{li01_simul_vibrat_isolat_point_contr,
+ author = {Xiaochun Li and Jerry C. Hamann and John E. McInroy},
+ title = {Simultaneous Vibration Isolation and Pointing Control of
+ Flexure Jointed Hexapods},
+ booktitle = {Smart Structures and Materials 2001: Smart Structures and
+ Integrated Systems},
+ year = 2001,
+ doi = {10.1117/12.436521},
+ url = {https://doi.org/10.1117/12.436521},
+ keywords = {parallel robot},
+ month = 8,
+}
+
+
+
+@article{jafari03_orthog_gough_stewar_platf_microm,
+ author = {Jafari, F. and McInroy, J.E.},
+ title = {Orthogonal Gough-Stewart Platforms for Micromanipulation},
+ journal = {IEEE Transactions on Robotics and Automation},
+ volume = 19,
+ number = 4,
+ pages = {595-603},
+ year = 2003,
+ doi = {10.1109/tra.2003.814506},
+ url = {https://doi.org/10.1109/tra.2003.814506},
+ issn = {1042-296X},
+ keywords = {parallel robot, cubic configuration},
+ month = {Aug},
+ publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
+}
+
+
+
+@phdthesis{hanieh03_activ_stewar,
+ author = {Hanieh, Ahmed Abu},
+ keywords = {parallel robot},
+ school = {Universit{\'e} Libre de Bruxelles, Brussels, Belgium},
+ title = {Active isolation and damping of vibrations via Stewart
+ platform},
+ year = 2003,
+}
+
+
+
+@article{preumont07_six_axis_singl_stage_activ,
+ author = {A. Preumont and M. Horodinca and I. Romanescu and B. de
+ Marneffe and M. Avraam and A. Deraemaeker and F. Bossens and
+ A. Abu Hanieh},
+ title = {A Six-Axis Single-Stage Active Vibration Isolator Based on
+ Stewart Platform},
+ journal = {Journal of Sound and Vibration},
+ volume = 300,
+ number = {3-5},
+ pages = {644-661},
+ year = 2007,
+ doi = {10.1016/j.jsv.2006.07.050},
+ url = {https://doi.org/10.1016/j.jsv.2006.07.050},
+ keywords = {parallel robot},
+}
+
+
+
+@inproceedings{taranti01_effic_algor_vibrat_suppr,
+ author = {Taranti, Christian and Agrawal, Brij and Cristi, Roberto},
+ title = {An Efficient Algorithm for Vibration Suppression to meet
+ pointing requirements of optical payloads},
+ booktitle = {AIAA Guidance, Navigation, and Control Conference and
+ Exhibit},
+ year = 2001,
+ pages = 4094,
+}
+
+
+
+@inproceedings{chen03_payload_point_activ_vibrat_isolat,
+ author = {Hong-Jen Chen and Ronald Bishop and Brij Agrawal},
+ title = {Payload Pointing and Active Vibration Isolation Using
+ Hexapod Platforms},
+ booktitle = {44th AIAA/ASME/ASCE/AHS/ASC Structures, Structural
+ Dynamics, and Materials Conference},
+ year = 2003,
+ doi = {10.2514/6.2003-1643},
+ url = {https://doi.org/10.2514/6.2003-1643},
+ keywords = {parallel robot},
+ month = 4,
+}
+
+
+
+@article{chi15_desig_exper_study_vcm_based,
+ author = {Weichao Chi and Dengqing Cao and Dongwei Wang and Jie Tang
+ and Yifan Nie and Wenhu Huang},
+ title = {Design and Experimental Study of a Vcm-Based Stewart
+ Parallel Mechanism Used for Active Vibration Isolation},
+ journal = {Energies},
+ volume = 8,
+ number = 8,
+ pages = {8001-8019},
+ year = 2015,
+ doi = {10.3390/en8088001},
+ url = {https://doi.org/10.3390/en8088001},
+ keywords = {parallel robot},
+}
+
+
+
+@article{tang18_decen_vibrat_contr_voice_coil,
+ author = {Jie Tang and Dengqing Cao and Tianhu Yu},
+ title = {Decentralized Vibration Control of a Voice Coil Motor-Based
+ Stewart Parallel Mechanism: Simulation and Experiments},
+ journal = {Proceedings of the Institution of Mechanical Engineers,
+ Part C: Journal of Mechanical Engineering Science},
+ volume = 233,
+ number = 1,
+ pages = {132-145},
+ year = 2018,
+ doi = {10.1177/0954406218756941},
+ url = {https://doi.org/10.1177/0954406218756941},
+ keywords = {parallel robot},
+}
+
+
+
+@article{jiao18_dynam_model_exper_analy_stewar,
+ author = {Jian Jiao and Ying Wu and Kaiping Yu and Rui Zhao},
+ title = {Dynamic Modeling and Experimental Analyses of Stewart
+ Platform With Flexible Hinges},
+ journal = {Journal of Vibration and Control},
+ volume = 25,
+ number = 1,
+ pages = {151-171},
+ year = 2018,
+ doi = {10.1177/1077546318772474},
+ url = {https://doi.org/10.1177/1077546318772474},
+ keywords = {parallel robot, flexure},
+}
+
+
+
+@article{beijen18_self_tunin_mimo_distur_feedf,
+ author = {M.A. Beijen and M.F. Heertjes and J. Van Dijk and W.B.J.
+ Hakvoort},
+ title = {Self-Tuning Mimo Disturbance Feedforward Control for Active
+ Hard-Mounted Vibration Isolators},
+ journal = {Control Engineering Practice},
+ volume = 72,
+ pages = {90-103},
+ year = 2018,
+ doi = {10.1016/j.conengprac.2017.11.008},
+ url = {https://doi.org/10.1016/j.conengprac.2017.11.008},
+ keywords = {parallel robot, feedforward},
+}
+
+
+
+@phdthesis{tjepkema12_activ_ph,
+ author = {Tjepkema, D},
+ title = {Active hard mount vibration isolation for precision
+ equipment [Ph. D. thesis]},
+ university = {University of Twente, Enschede, The Netherlands},
+ year = {2012},
+}
+
+
+
+@article{geng93_six_degree_of_freed_activ,
+ author = {Zheng Geng and Leonard S. Haynes},
+ title = {Six-Degree-Of-Freedom Active Vibration Isolation Using a
+ Stewart Platform Mechanism},
+ journal = {Journal of Robotic Systems},
+ volume = 10,
+ number = 5,
+ pages = {725-744},
+ year = 1993,
+ doi = {10.1002/rob.4620100510},
+ url = {https://doi.org/10.1002/rob.4620100510},
+ keywords = {parallel robot},
+}
+
+
+
+@article{geng94_six_degree_of_freed_activ,
+ author = {Z.J. Geng and L.S. Haynes},
+ title = {Six Degree-Of-Freedom Active Vibration Control Using the
+ Stewart Platforms},
+ journal = {IEEE Transactions on Control Systems Technology},
+ volume = 2,
+ number = 1,
+ pages = {45-53},
+ year = 1994,
+ doi = {10.1109/87.273110},
+ url = {https://doi.org/10.1109/87.273110},
+ keywords = {parallel robot, cubic configuration},
+}
+
+
+
+@article{geng95_intel_contr_system_multip_degree,
+ author = {Z. Jason Geng and George G. Pan and Leonard S. Haynes and
+ Ben K. Wada and John A. Garba},
+ title = {An Intelligent Control System for Multiple
+ Degree-Of-Freedom Vibration Isolation},
+ journal = {Journal of Intelligent Material Systems and Structures},
+ volume = 6,
+ number = 6,
+ pages = {787-800},
+ year = 1995,
+ doi = {10.1177/1045389x9500600607},
+ url = {https://doi.org/10.1177/1045389x9500600607},
+ keywords = {parallel robot},
+}
+
+
+
+@inproceedings{zhang11_six_dof,
+ author = {Zhen Zhang and J Liu and Jq Mao and Yx Guo and Yh Ma},
+ title = {Six DOF active vibration control using stewart platform
+ with non-cubic configuration},
+ booktitle = {2011 6th IEEE Conference on Industrial Electronics and
+ Applications},
+ year = 2011,
+ doi = {10.1109/iciea.2011.5975679},
+ url = {https://doi.org/10.1109/iciea.2011.5975679},
+ keywords = {parallel robot},
+ month = 6,
+}
+
+
+
+@inproceedings{abu02_stiff_soft_stewar_platf_activ,
+ author = {Abu Hanieh, Ahmed and Horodinca, Mihaita and Preumont,
+ Andre},
+ title = {Stiff and Soft Stewart Platforms for Active Damping and
+ Active Isolation of Vibrations},
+ booktitle = {Actuator 2002, 8th International Conference on New
+ Actuators},
+ year = 2002,
+ keywords = {parallel robot},
+}
+
+
+
+@article{agrawal04_algor_activ_vibrat_isolat_spacec,
+ author = {Brij N Agrawal and Hong-Jen Chen},
+ title = {Algorithms for Active Vibration Isolation on Spacecraft
+ Using a Stewart Platform},
+ journal = {Smart Materials and Structures},
+ volume = 13,
+ number = 4,
+ pages = {873-880},
+ year = 2004,
+ doi = {10.1088/0964-1726/13/4/025},
+ url = {https://doi.org/10.1088/0964-1726/13/4/025},
+ keywords = {parallel robot},
+}
+
+
+
+@inproceedings{ting06_desig_stewar_nanos_platf,
+ author = {Yung Ting and H.-C. Jar and Chun-Chung Li},
+ title = {Design of a 6DOF Stewart-type Nanoscale Platform},
+ booktitle = {2006 Sixth IEEE Conference on Nanotechnology},
+ year = 2006,
+ doi = {10.1109/nano.2006.247808},
+ url = {https://doi.org/10.1109/nano.2006.247808},
+ keywords = {parallel robot},
+}
+
+
+
+@article{ting13_compos_contr_desig_stewar_nanos_platf,
+ author = {Yung Ting and Chun-Chung Li and Tho Van Nguyen},
+ title = {Composite Controller Design for a 6dof Stewart Nanoscale
+ Platform},
+ journal = {Precision Engineering},
+ volume = 37,
+ number = 3,
+ pages = {671-683},
+ year = 2013,
+ doi = {10.1016/j.precisioneng.2013.01.012},
+ url = {https://doi.org/10.1016/j.precisioneng.2013.01.012},
+ keywords = {parallel robot},
+}
+
+
+
+@article{ting07_measur_calib_stewar_microm_system,
+ author = {Yung Ting and Ho-Chin Jar and Chun-Chung Li},
+ title = {Measurement and Calibration for Stewart Micromanipulation
+ System},
+ journal = {Precision Engineering},
+ volume = 31,
+ number = 3,
+ pages = {226-233},
+ year = 2007,
+ doi = {10.1016/j.precisioneng.2006.09.004},
+ url = {https://doi.org/10.1016/j.precisioneng.2006.09.004},
+ keywords = {parallel robot},
+}
+
+
+
+@article{du14_piezo_actuat_high_precis_flexib,
+ author = {Zhijiang Du and Ruochong Shi and Wei Dong},
+ title = {A Piezo-Actuated High-Precision Flexible Parallel Pointing
+ Mechanism: Conceptual Design, Development, and Experiments},
+ journal = {IEEE Transactions on Robotics},
+ volume = 30,
+ number = 1,
+ pages = {131-137},
+ year = 2014,
+ doi = {10.1109/tro.2013.2288800},
+ url = {https://doi.org/10.1109/tro.2013.2288800},
+ keywords = {parallel robot},
+}
+
+
+
+@article{furutani04_nanom_cuttin_machin_using_stewar,
+ author = {Katsushi Furutani and Michio Suzuki and Ryusei Kudoh},
+ title = {Nanometre-Cutting Machine Using a Stewart-Platform Parallel
+ Mechanism},
+ journal = {Measurement Science and Technology},
+ volume = 15,
+ number = 2,
+ pages = {467-474},
+ year = 2004,
+ doi = {10.1088/0957-0233/15/2/022},
+ url = {https://doi.org/10.1088/0957-0233/15/2/022},
+ keywords = {parallel robot, cubic configuration},
+}
+
+
+
+@article{yang19_dynam_model_decoup_contr_flexib,
+ author = {Yang, XiaoLong and Wu, HongTao and Chen, Bai and Kang,
+ ShengZheng and Cheng, ShiLi},
+ title = {Dynamic Modeling and Decoupled Control of a Flexible
+ Stewart Platform for Vibration Isolation},
+ journal = {Journal of Sound and Vibration},
+ volume = 439,
+ pages = {398-412},
+ year = 2019,
+ doi = {10.1016/j.jsv.2018.10.007},
+ url = {https://doi.org/10.1016/j.jsv.2018.10.007},
+ issn = {0022-460X},
+ keywords = {parallel robot, flexure, decoupled control},
+ month = {Jan},
+ publisher = {Elsevier BV},
+}
+
+
+
+@article{wang16_inves_activ_vibrat_isolat_stewar,
+ author = {Wang, Chaoxin and Xie, Xiling and Chen, Yanhao and Zhang,
+ Zhiyi},
+ title = {Investigation on Active Vibration Isolation of a Stewart
+ Platform With Piezoelectric Actuators},
+ journal = {Journal of Sound and Vibration},
+ volume = 383,
+ pages = {1-19},
+ year = 2016,
+ doi = {10.1016/j.jsv.2016.07.021},
+ url = {https://doi.org/10.1016/j.jsv.2016.07.021},
+ issn = {0022-460X},
+ keywords = {parallel robot},
+ month = {Nov},
+ publisher = {Elsevier BV},
+}
+
+
+
+@inproceedings{defendini00_techn,
+ author = {Defendini, A and Vaillon, L and Trouve, F and Rouze, Th and
+ Sanctorum, B and Griseri, G and Spanoudakis, P and von
+ Alberti, M},
+ title = {Technology predevelopment for active control of vibration
+ and very high accuracy pointing systems},
+ booktitle = {Spacecraft Guidance, Navigation and Control Systems},
+ year = 2000,
+ volume = 425,
+ pages = 385,
+}
+
+
+
+@article{torii12_small_size_self_propel_stewar_platf,
+ author = {Akihiro Torii and Masaaki Banno and Akiteru Ueda and Kae
+ Doki},
+ title = {A Small-Size Self-Propelled Stewart Platform},
+ journal = {Electrical Engineering in Japan},
+ volume = 181,
+ number = 2,
+ pages = {37-46},
+ year = 2012,
+ doi = {10.1002/eej.21261},
+ url = {https://doi.org/10.1002/eej.21261},
+ keywords = {parallel robot},
+}
+
+
+
+@phdthesis{naves20_desig,
+ author = {Mark Naves},
+ school = {Univeristy of Twente},
+ title = {Design and optimization of large stroke flexure mechanisms},
+ year = 2020,
+ keywords = {flexure},
+}
+
+
+
+@inproceedings{naves20_t_flex,
+ author = {Naves, M and Hakvoort, WBJ and Nijenhuis, M and Brouwer,
+ DM},
+ title = {T-Flex: A large range of motion fully flexure-based 6-DOF
+ hexapod},
+ booktitle = {20th EUSPEN International Conference \& Exhibition, EUSPEN
+ 2020},
+ year = 2020,
+ pages = {205--208},
+ keywords = {parallel robot, nass},
+ organization = {EUSPEN},
+}
+
diff --git a/nass-geometry.org b/nass-geometry.org
index f67b8ce..ad90b87 100644
--- a/nass-geometry.org
+++ b/nass-geometry.org
@@ -1,4 +1,4 @@
-#+TITLE: Nano Hexapod - Kinematics Study and Optimal Geometry
+#+TITLE: Nano Hexapod - Optimal Geometry
:DRAWER:
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
@@ -15,7 +15,8 @@
#+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-geometry.bib}
#+BIND: org-latex-bib-compiler "biber"
@@ -44,12 +45,6 @@
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
-#+begin_export html
-
- This report is also available as a pdf.
-
-#+end_export
-
#+latex: \clearpage
* Build :noexport:
@@ -95,37 +90,199 @@
#+END_SRC
* Notes :noexport:
+** Notes
+Prefix is =detail_kinematics=
Talk about the optimization of the nano-hexapod: geometry, stiffness, etc...
-- [ ] [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org][state-of-thesis-2020]]
-- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/kinematic-study.org::+TITLE: Kinematic Study of the Stewart Platform][Stewart Platform - Kinematics]]
-- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/flexible-stewart-platform.org::+TITLE: Stewart Platform with Flexible Elements][Stewart platform with flexible elements]]
+- [ ] [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org::*Optimal Nano-Hexapod Design][Optimal Nano-Hexapod Design]]
+- [X] file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/kinematic-study.org
+- [X] file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/flexible-stewart-platform.org
+ Not so interesting
+
+- [ ] Talk about what will influence the dynamics
+ It will influence the mechanical design.
+ For instance we want to precisely position =bi= with respect to the top platform
Optimal geometry?
-- [ ] Cubic architecture?
+- [ ] *Cubic architecture*?
+ Cubic configuration file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/cubic-configuration.org
+ https://tdehaeze.github.io/stewart-simscape/cubic-configuration.html
- [ ] Kinematics
- [ ] Trade-off for the strut orientation
- [ ] Requirements in terms of positioning of the joints
- [ ] Not a lot of differences, no specificity of cubic architecture, no specific positioning
+
+- [ ] https://research.tdehaeze.xyz/stewart-simscape/docs/bibliography.html
+- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/kinematic-study.org::*Estimated required actuator stroke from specified platform mobility][Estimated required actuator stroke from specified platform mobility]]
+- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/kinematic-study.org::*Estimation of the Joint required Stroke][Estimation of the Joint required Stroke]]
+
+** TODO [#A] Copy relevant parts of reports
+
+** TODO [#A] Structure the review of Stewart platforms
+
+Focus on short stroke (<1 mm) stewart platforms with flexible joints.
+
+- Actuators: voice coil, piezo
+- Flexible joints
+- Geometry:
+ - Cubic, non cubic, ...
+- Control ? Maybe in the control section ?
+
+** DONE [#A] Make table for review of Stewart platforms
+CLOSED: [2025-03-19 Wed 18:25]
+
+[[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Built Stewart PLatforms][Built Stewart PLatforms]]
+
+Link to figures.
+
+In figure legend: link to references, mention the university and the application.
+
+** TODO [#C] Create a function to plot the mobility of the Stewart platform
+
+Arguments:
+- choose to fix the orientation with ${}^{B}R_{A}$
+- maximum stroke of each actuator (may be included in the Stewart object)
+
* Introduction :ignore:
-#+name: tab:nass_geometry_section_matlab_code
-#+caption: Report sections and corresponding Matlab files
-#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
-#+attr_latex: :center t :booktabs t
-| *Sections* | *Matlab File* |
-|----------------------------------+------------------------|
-| Section ref:sec:nass_geometry_ | =nass_geometry_1_.m= |
+- In the conceptual design phase, the geometry of the Stewart platform was not optimized
+- In the detail design phase, we want to see if the geometry can be optimized to improve the overall performances
+- Optimization criteria: mobility, stiffness, dynamical decoupling, more performance / bandwidth
+Outline:
+- Review of Stewart platform: Section ref:sec:detail_kinematics_stewart_review
+ Geometry, Actuators, Sensors, Joints
+- Effect of geometry on the Stewart platform characteristics ref:sec:detail_kinematics_geometry
+- Cubic configuration: benefits? ref:sec:detail_kinematics_cubic
-* Amplified Piezoelectric Geometry
-:PROPERTIES:
-:HEADER-ARGS:matlab+: :tangle matlab/nass_geometry_1_.m
-:END:
-<>
+* Review of Stewart platforms
+<>
** Introduction :ignore:
+- as was explained in the conceptual phase, Stewart platform have the following key elements:
+ - two plates
+ - flexible joints
+ - actuators
+ - sensors
+- the geometry
+- This results in various designs as shown in Table ref:tab:detail_kinematics_stewart_review
+- The focus is here made on Stewart platforms for nano-positioning of vibration control.
+ Not on long stroke stewart platforms.
+- All presented Stewart platforms are using flexible joints, as it is a prerequisites for nano-positioning capabilities.
+- Most of stewart platforms are using voice coil actuators or piezoelectric actuators.
+ The actuators used for the Stewart platform will be chosen in the next section.
+ # TODO - Add reference to the section
+- Depending on the application, various sensors are integrated in the struts or on the plates.
+ The choice of sensor for the nano-hexapod will be described in the next section.
+ # TODO - Add reference to the section
+
+- [ ] Only keep integrated sensor and not external metrology
+- [ ] Check for missing information
+
+#+name: fig:detail_kinematics_stewart_examples_cubic
+#+caption: Some examples of developped Stewart platform with Cubic geometry. (\subref{fig:detail_kinematics_jpl}), (\subref{fig:detail_kinematics_uw_gsp}), (\subref{fig:detail_kinematics_ulb_pz}), (\subref{fig:detail_kinematics_uqp})
+#+attr_latex: :options [htbp]
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:detail_kinematics_jpl}California Institute of Technology - USA}
+#+attr_latex: :options {0.48\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.95\linewidth
+[[file:figs/detail_kinematics_jpl.jpg]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_kinematics_uw_gsp}University of Wyoming - USA}
+#+attr_latex: :options {0.48\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.95\linewidth
+[[file:figs/detail_kinematics_uw_gsp.jpg]]
+#+end_subfigure
+
+\bigskip
+#+attr_latex: :caption \subcaption{\label{fig:detail_kinematics_ulb_pz}ULB - Belgium}
+#+attr_latex: :options {0.53\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.95\linewidth
+[[file:figs/detail_kinematics_ulb_pz.jpg]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_kinematics_uqp}Naval Postgraduate School - USA}
+#+attr_latex: :options {0.43\textwidth}
+#+begin_subfigure
+#+attr_latex: :width 0.95\linewidth
+[[file:figs/detail_kinematics_uqp.jpg]]
+#+end_subfigure
+#+end_figure
+
+#+name: fig:detail_kinematics_stewart_examples_non_cubic
+#+caption: Some examples of developped Stewart platform with non-cubic geometry. (\subref{fig:detail_kinematics_pph}), (\subref{fig:detail_kinematics_zhang11}), (\subref{fig:detail_kinematics_yang19}), (\subref{fig:detail_kinematics_naves})
+#+attr_latex: :options [htbp]
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:detail_kinematics_pph}Naval Postgraduate School - USA}
+#+attr_latex: :options {0.48\textwidth}
+#+begin_subfigure
+#+attr_latex: :height 5cm
+[[file:figs/detail_kinematics_pph.jpg]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_kinematics_zhang11}Beihang University - China}
+#+attr_latex: :options {0.48\textwidth}
+#+begin_subfigure
+#+attr_latex: :height 5cm
+[[file:figs/detail_kinematics_zhang11.jpg]]
+#+end_subfigure
+
+\bigskip
+#+attr_latex: :caption \subcaption{\label{fig:detail_kinematics_yang19}Nanjing University - China}
+#+attr_latex: :options {0.43\textwidth}
+#+begin_subfigure
+#+attr_latex: :height 5cm
+[[file:figs/detail_kinematics_yang19.jpg]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:detail_kinematics_naves}University of Twente - Netherlands}
+#+attr_latex: :options {0.53\textwidth}
+#+begin_subfigure
+#+attr_latex: :height 5cm
+[[file:figs/detail_kinematics_naves.jpg]]
+#+end_subfigure
+#+end_figure
+
+#+name: tab:detail_kinematics_stewart_review
+#+caption: Examples of Stewart platform developed. When not specifically indicated, sensors are included in the struts. All presented Stewart platforms are using flexible joints. The table is sorted by "date"
+#+attr_latex: :environment tabularx :width \linewidth :align llllX
+#+attr_latex: :center t :booktabs t :font \scriptsize
+| | *Geometry* | *Actuators* | *Sensors* | *Reference* |
+|------------------------------------------+-------------------+------------------------------+------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| | Cubic (6-UPU) | Magnetostrictive | Force (collocated), Accelerometers | [[cite:&geng93_six_degree_of_freed_activ;&geng94_six_degree_of_freed_activ;&geng95_intel_contr_system_multip_degree]] |
+| Figure ref:fig:detail_kinematics_jpl | Cubic | Voice Coil (0.5 mm) | Force (collocated) | [[cite:&spanos95_soft_activ_vibrat_isolat;&rahman98_multiax]] |
+| | Cubic | Voice Coil (10 mm) | Force, LVDT, Geophones | [[cite:&thayer98_stewar;&thayer02_six_axis_vibrat_isolat_system;&hauge04_sensor_contr_space_based_six]] |
+| Figure ref:fig:detail_kinematics_uw_gsp | Cubic (CoM=CoK) | Voice Coil | Force | [[cite:&mcinroy99_dynam;&mcinroy99_precis_fault_toler_point_using_stewar_platf;&mcinroy00_desig_contr_flexur_joint_hexap;&li01_simul_vibrat_isolat_point_contr;&jafari03_orthog_gough_stewar_platf_microm]] |
+| | Cubic | Piezoelectric ($25\,\mu m$) | Piezo force sensors | [[cite:&defendini00_techn]] |
+| Figure ref:fig:detail_kinematics_ulb_pz | Cubic | APA ($50\,\mu m$) | Force sensor | [[cite:&abu02_stiff_soft_stewar_platf_activ]] |
+| Figure ref:fig:detail_kinematics_pph | Non-Cubic | Voice Coil | Accelerometers | [[cite:&chen03_payload_point_activ_vibrat_isolat]] |
+| | Cubic | Voice Coil | Force | [[cite:&hanieh03_activ_stewar;&preumont07_six_axis_singl_stage_activ]] |
+| Figure ref:fig:detail_kinematics_uqp | Cubic | Piezoelectric ($50\,\mu m$) | Geophone aligned with the strut | [[cite:&agrawal04_algor_activ_vibrat_isolat_spacec]] |
+| | Non-Cubic | Piezoelectric ($16\,\mu m$) | Eddy Current | [[cite:&furutani04_nanom_cuttin_machin_using_stewar]] |
+| | Cubic | Piezoelectric ($120\,\mu m$) | External capacitive | [[cite:&ting06_desig_stewar_nanos_platf;&ting13_compos_contr_desig_stewar_nanos_platf]] |
+| | Non-Cubic | Piezoelectric ($160\,\mu m$) | External capacitive (LION) | [[cite:&ting07_measur_calib_stewar_microm_system]] |
+| Figure ref:fig:detail_kinematics_zhang11 | Non-cubic | Magnetostrictive | Inertial | [[cite:&zhang11_six_dof]] |
+| | 6-SPS (Optimized) | Piezoelectric | Strain Gauge | [[cite:&du14_piezo_actuat_high_precis_flexib]] |
+| | Cubic | Voice Coil | Accelerometer in each leg | [[cite:&chi15_desig_exper_study_vcm_based;&tang18_decen_vibrat_contr_voice_coil;&jiao18_dynam_model_exper_analy_stewar]] |
+| | Cubic | Piezoelectric | Force Sensor + Accelerometer | [[cite:&wang16_inves_activ_vibrat_isolat_stewar]] |
+| | Almost cubic | Voice Coil | Force Sensor + Accelerometer | [[cite:&beijen18_self_tunin_mimo_distur_feedf;&tjepkema12_activ_ph]] |
+| Figure ref:fig:detail_kinematics_yang19 | 6-UPS (Cubic?) | Piezoelectric | Force, Position | [[cite:&yang19_dynam_model_decoup_contr_flexib]] |
+| Figure ref:fig:detail_kinematics_naves | Non-Cubic | 3-phase rotary motor | Rotary Encoders | [[cite:&naves20_desig;&naves20_t_flex]] |
+
+- [ ] https://research.tdehaeze.xyz/stewart-simscape/docs/bibliography.html
+- [ ] Joints and actuators are optimized in the next section
+
+* Effect of geometry on Stewart platform properties
+<>
+** Introduction :ignore:
+
+- Remind that the choice of frames (independently of the physical geometry) impacts the obtained stiffness matrix (as it is defined as forces/motion evaluated at the chosen frame)
+- Important: bi (join position w.r.t top platform) and si (orientation of struts)
+
+For the nano-hexapod:
+- Size requirements: Maximum height, maximum radius
+
** Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<>
@@ -147,8 +304,112 @@ Optimal geometry?
<>
#+end_src
+** Stiffness
+
+- Give some examples:
+ - struts further apart: higher angular stiffness, same linear stiffness
+ - orientation: more vertical => increase vertical stiffness, decrease horizontal stiffness
+
+** Mobility and required joint and actuator stroke
+
+- Comparison of the XYZ mobility (fixed orientation) for two geometry (or maybe only in the XY or YZ plane to see more clearly the differences)
+
+- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/kinematic-study.org::*Estimated required actuator stroke from specified platform mobility][Estimated required actuator stroke from specified platform mobility]]
+ Will be useful to choose the actuators
+- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/kinematic-study.org::*Estimation of the Joint required Stroke][Estimation of the Joint required Stroke]]
+ Will be useful to design the flexible joints
+
+** Conclusion
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+
+- [ ] Table that summarize the findings
+ [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org::*Optimal Nano-Hexapod Geometry][Optimal Nano-Hexapod Geometry]]
+
+* The Cubic Architecture
+:PROPERTIES:
+:HEADER-ARGS:matlab+: :tangle matlab/detail_kinematics_1_.m
+:END:
+<>
+** Introduction :ignore:
+
+Cubic configuration file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/cubic-configuration.org
+
+** Matlab Init :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+<>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+<>
+#+end_src
+
+#+begin_src matlab :tangle no :noweb yes
+<>
+#+end_src
+
+#+begin_src matlab :eval no :noweb yes
+<>
+#+end_src
+
+#+begin_src matlab :noweb yes
+<>
+#+end_src
+
+** The Cubic Architecture
+
+From [[cite:&geng94_six_degree_of_freed_activ]], 7 properties of cubic configuration:
+1) Uniformity in control capability in all directions
+2) Uniformity in stiffness in all directions
+3) Minimum cross coupling force effect among actuators
+4) Facilitate collocated sensor-actuator control system design
+5) Simple kinematics relationships
+6) Simple dynamic analysis
+7) Simple mechanical design
+
+
+
+- Principle
+- Examples of Stewart platform with Cubic architecture
+- Different options?
+ Center of the cube above the top platform?
+ Where to mention that ? With examples
+
+
+
+** Static Properties
+
+Explain that we get diagonal K matrix => static decoupling in the cartesian frame.
+Uniform mobility in X,Y,Z directions
+
+** Dynamical Properties?
+
+[[cite:&mcinroy00_desig_contr_flexur_joint_hexap]]
+
+[[cite:&afzali-far16_vibrat_dynam_isotr_hexap_analy_studies]]:
+- proposes an architecture where the CoM can be above the top platform
+- "*Dynamic isotropy*, leading to equal eigenfrequencies, is a powerful optimization measure."
+
+
+
+- Show examples where the dynamics can indeed be decoupled in the cartesian frame (i.e. decoupled K and M matrices)
+- Better decoupling between the struts? not sure...
+ Compute the coupling between the struts for a cubic and non-cubic architecture
+- Same resonance frequencies for suspension modes?
+ Maybe in one case: sphere at the CoM?
+ Could be nice to show that.
+ Say that this can be nice for optimal damping for instance (link to paper explaining that)
+
* Conclusion
-<>
+<>
+
+Inertia used for experiments will be very broad => difficult to optimize the dynamics
+Specific geometry is not found to have a huge impact on performances.
+Practical implementation is important.
+
+Geometry impacts the static and dynamical characteristics of the Stewart platform.
+Considering the design constrains, the slight change of geometry will not significantly impact the obtained results.
* Bibliography :ignore:
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]
diff --git a/nass-geometry.pdf b/nass-geometry.pdf
index 2f49b31..d440f21 100644
Binary files a/nass-geometry.pdf and b/nass-geometry.pdf differ
diff --git a/nass-geometry.tex b/nass-geometry.tex
index 7d02407..035f4d9 100644
--- a/nass-geometry.tex
+++ b/nass-geometry.tex
@@ -1,18 +1,19 @@
-% Created 2024-03-19 Tue 11:07
+% Created 2025-03-19 Wed 19:08
% Intended LaTeX compiler: pdflatex
\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
\input{preamble.tex}
+\input{preamble_extra.tex}
\bibliography{nass-geometry.bib}
\author{Dehaeze Thomas}
\date{\today}
-\title{Nano Hexapod - Obtained Geometry}
+\title{Nano Hexapod - Optimal Geometry}
\hypersetup{
pdfauthor={Dehaeze Thomas},
- pdftitle={Nano Hexapod - Obtained Geometry},
+ pdftitle={Nano Hexapod - Optimal Geometry},
pdfkeywords={},
pdfsubject={},
- pdfcreator={Emacs 29.2 (Org mode 9.7)},
+ pdfcreator={Emacs 29.4 (Org mode 9.6)},
pdflang={English}}
\usepackage{biblatex}
@@ -22,20 +23,243 @@
\tableofcontents
\clearpage
+
+\begin{itemize}
+\item In the conceptual design phase, the geometry of the Stewart platform was not optimized
+\item In the detail design phase, we want to see if the geometry can be optimized to improve the overall performances
+\item Optimization criteria: mobility, stiffness, dynamical decoupling, more performance / bandwidth
+\end{itemize}
+
+Outline:
+\begin{itemize}
+\item Review of Stewart platform: Section \ref{sec:detail_kinematics_stewart_review}
+Geometry, Actuators, Sensors, Joints
+\item Effect of geometry on the Stewart platform characteristics \ref{sec:detail_kinematics_geometry}
+\item Cubic configuration: benefits? \ref{sec:detail_kinematics_cubic}
+\end{itemize}
+
+\chapter{Review of Stewart platforms}
+\label{sec:detail_kinematics_stewart_review}
+\begin{itemize}
+\item as was explained in the conceptual phase, Stewart platform have the following key elements:
+\begin{itemize}
+\item two plates
+\item flexible joints
+\item actuators
+\item sensors
+\end{itemize}
+\item the geometry
+\item This results in various designs as shown in Table \ref{tab:detail_kinematics_stewart_review}
+\item The focus is here made on Stewart platforms for nano-positioning of vibration control.
+Not on long stroke stewart platforms.
+\item All presented Stewart platforms are using flexible joints, as it is a prerequisites for nano-positioning capabilities.
+\item Most of stewart platforms are using voice coil actuators or piezoelectric actuators.
+The actuators used for the Stewart platform will be chosen in the next section.
+\item Depending on the application, various sensors are integrated in the struts or on the plates.
+The choice of sensor for the nano-hexapod will be described in the next section.
+
+\item[{$\square$}] Only keep integrated sensor and not external metrology
+\item[{$\square$}] Check for missing information
+\end{itemize}
+
+\begin{figure}[htbp]
+\begin{subfigure}{0.48\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_kinematics_jpl.jpg}
+\end{center}
+\subcaption{\label{fig:detail_kinematics_jpl}California Institute of Technology - USA}
+\end{subfigure}
+\begin{subfigure}{0.48\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_kinematics_uw_gsp.jpg}
+\end{center}
+\subcaption{\label{fig:detail_kinematics_uw_gsp}University of Wyoming - USA}
+\end{subfigure}
+
+\bigskip
+\begin{subfigure}{0.53\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_kinematics_ulb_pz.jpg}
+\end{center}
+\subcaption{\label{fig:detail_kinematics_ulb_pz}ULB - Belgium}
+\end{subfigure}
+\begin{subfigure}{0.43\textwidth}
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_kinematics_uqp.jpg}
+\end{center}
+\subcaption{\label{fig:detail_kinematics_uqp}Naval Postgraduate School - USA}
+\end{subfigure}
+\caption{\label{fig:detail_kinematics_stewart_examples_cubic}Some examples of developped Stewart platform with Cubic geometry. (\subref{fig:detail_kinematics_jpl}), (\subref{fig:detail_kinematics_uw_gsp}), (\subref{fig:detail_kinematics_ulb_pz}), (\subref{fig:detail_kinematics_uqp})}
+\end{figure}
+
+\begin{figure}[htbp]
+\begin{subfigure}{0.48\textwidth}
+\begin{center}
+\includegraphics[scale=1,height=5cm]{figs/detail_kinematics_pph.jpg}
+\end{center}
+\subcaption{\label{fig:detail_kinematics_pph}Naval Postgraduate School - USA}
+\end{subfigure}
+\begin{subfigure}{0.48\textwidth}
+\begin{center}
+\includegraphics[scale=1,height=5cm]{figs/detail_kinematics_zhang11.jpg}
+\end{center}
+\subcaption{\label{fig:detail_kinematics_zhang11}Beihang University - China}
+\end{subfigure}
+
+\bigskip
+\begin{subfigure}{0.43\textwidth}
+\begin{center}
+\includegraphics[scale=1,height=5cm]{figs/detail_kinematics_yang19.jpg}
+\end{center}
+\subcaption{\label{fig:detail_kinematics_yang19}Nanjing University - China}
+\end{subfigure}
+\begin{subfigure}{0.53\textwidth}
+\begin{center}
+\includegraphics[scale=1,height=5cm]{figs/detail_kinematics_naves.jpg}
+\end{center}
+\subcaption{\label{fig:detail_kinematics_naves}University of Twente - Netherlands}
+\end{subfigure}
+\caption{\label{fig:detail_kinematics_stewart_examples_non_cubic}Some examples of developped Stewart platform with non-cubic geometry. (\subref{fig:detail_kinematics_pph}), (\subref{fig:detail_kinematics_zhang11}), (\subref{fig:detail_kinematics_yang19}), (\subref{fig:detail_kinematics_naves})}
+\end{figure}
+
\begin{table}[htbp]
-\caption{\label{tab:nass_geometry_section_matlab_code}Report sections and corresponding Matlab files}
+\caption{\label{tab:detail_kinematics_stewart_review}Examples of Stewart platform developed. When not specifically indicated, sensors are included in the struts. All presented Stewart platforms are using flexible joints. The table is sorted by ``date''}
\centering
-\begin{tabularx}{0.6\linewidth}{lX}
+\scriptsize
+\begin{tabularx}{\linewidth}{llllX}
\toprule
-\textbf{Sections} & \textbf{Matlab File}\\
+ & \textbf{Geometry} & \textbf{Actuators} & \textbf{Sensors} & \textbf{Reference}\\
\midrule
-Section \ref{sec:nass_geometry}\_ & \texttt{nass\_geometry\_1\_.m}\\
+ & Cubic (6-UPU) & Magnetostrictive & Force (collocated), Accelerometers & \cite{geng93_six_degree_of_freed_activ,geng94_six_degree_of_freed_activ,geng95_intel_contr_system_multip_degree}\\
+Figure \ref{fig:detail_kinematics_jpl} & Cubic & Voice Coil (0.5 mm) & Force (collocated) & \cite{spanos95_soft_activ_vibrat_isolat,rahman98_multiax}\\
+ & Cubic & Voice Coil (10 mm) & Force, LVDT, Geophones & \cite{thayer98_stewar,thayer02_six_axis_vibrat_isolat_system,hauge04_sensor_contr_space_based_six}\\
+Figure \ref{fig:detail_kinematics_uw_gsp} & Cubic (CoM=CoK) & Voice Coil & Force & \cite{mcinroy99_dynam,mcinroy99_precis_fault_toler_point_using_stewar_platf,mcinroy00_desig_contr_flexur_joint_hexap,li01_simul_vibrat_isolat_point_contr,jafari03_orthog_gough_stewar_platf_microm}\\
+ & Cubic & Piezoelectric (\(25\,\mu m\)) & Piezo force sensors & \cite{defendini00_techn}\\
+Figure \ref{fig:detail_kinematics_ulb_pz} & Cubic & APA (\(50\,\mu m\)) & Force sensor & \cite{abu02_stiff_soft_stewar_platf_activ}\\
+Figure \ref{fig:detail_kinematics_pph} & Non-Cubic & Voice Coil & Accelerometers & \cite{chen03_payload_point_activ_vibrat_isolat}\\
+ & Cubic & Voice Coil & Force & \cite{hanieh03_activ_stewar,preumont07_six_axis_singl_stage_activ}\\
+Figure \ref{fig:detail_kinematics_uqp} & Cubic & Piezoelectric (\(50\,\mu m\)) & Geophone aligned with the strut & \cite{agrawal04_algor_activ_vibrat_isolat_spacec}\\
+ & Non-Cubic & Piezoelectric (\(16\,\mu m\)) & Eddy Current & \cite{furutani04_nanom_cuttin_machin_using_stewar}\\
+ & Cubic & Piezoelectric (\(120\,\mu m\)) & External capacitive & \cite{ting06_desig_stewar_nanos_platf,ting13_compos_contr_desig_stewar_nanos_platf}\\
+ & Non-Cubic & Piezoelectric (\(160\,\mu m\)) & External capacitive (LION) & \cite{ting07_measur_calib_stewar_microm_system}\\
+Figure \ref{fig:detail_kinematics_zhang11} & Non-cubic & Magnetostrictive & Inertial & \cite{zhang11_six_dof}\\
+ & 6-SPS (Optimized) & Piezoelectric & Strain Gauge & \cite{du14_piezo_actuat_high_precis_flexib}\\
+ & Cubic & Voice Coil & Accelerometer in each leg & \cite{chi15_desig_exper_study_vcm_based,tang18_decen_vibrat_contr_voice_coil,jiao18_dynam_model_exper_analy_stewar}\\
+ & Cubic & Piezoelectric & Force Sensor + Accelerometer & \cite{wang16_inves_activ_vibrat_isolat_stewar}\\
+ & Almost cubic & Voice Coil & Force Sensor + Accelerometer & \cite{beijen18_self_tunin_mimo_distur_feedf,tjepkema12_activ_ph}\\
+Figure \ref{fig:detail_kinematics_yang19} & 6-UPS (Cubic?) & Piezoelectric & Force, Position & \cite{yang19_dynam_model_decoup_contr_flexib}\\
+Figure \ref{fig:detail_kinematics_naves} & Non-Cubic & 3-phase rotary motor & Rotary Encoders & \cite{naves20_desig,naves20_t_flex}\\
\bottomrule
\end{tabularx}
\end{table}
-\chapter{Amplified Piezoelectric Geometry}
-\label{sec:nass_geometry_mechanics}
+
+\begin{itemize}
+\item[{$\square$}] \url{https://research.tdehaeze.xyz/stewart-simscape/docs/bibliography.html}
+\item[{$\square$}] Joints and actuators are optimized in the next section
+\end{itemize}
+
+\chapter{Effect of geometry on Stewart platform properties}
+\label{sec:detail_kinematics_geometry}
+\begin{itemize}
+\item Remind that the choice of frames (independently of the physical geometry) impacts the obtained stiffness matrix (as it is defined as forces/motion evaluated at the chosen frame)
+\item Important: bi (join position w.r.t top platform) and si (orientation of struts)
+\end{itemize}
+
+For the nano-hexapod:
+\begin{itemize}
+\item Size requirements: Maximum height, maximum radius
+\end{itemize}
+\section{Stiffness}
+
+\begin{itemize}
+\item Give some examples:
+\begin{itemize}
+\item struts further apart: higher angular stiffness, same linear stiffness
+\item orientation: more vertical => increase vertical stiffness, decrease horizontal stiffness
+\end{itemize}
+\end{itemize}
+
+\section{Mobility and required joint and actuator stroke}
+
+\begin{itemize}
+\item Comparison of the XYZ mobility (fixed orientation) for two geometry (or maybe only in the XY or YZ plane to see more clearly the differences)
+
+\item[{$\square$}] \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/kinematic-study.org}{Estimated required actuator stroke from specified platform mobility}
+Will be useful to choose the actuators
+\item[{$\square$}] \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/kinematic-study.org}{Estimation of the Joint required Stroke}
+Will be useful to design the flexible joints
+\end{itemize}
+
+\section*{Conclusion}
+\begin{itemize}
+\item[{$\square$}] Table that summarize the findings
+\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org}{Optimal Nano-Hexapod Geometry}
+\end{itemize}
+
+\chapter{The Cubic Architecture}
+\label{sec:detail_kinematics_cubic}
+Cubic configuration \url{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/cubic-configuration.org}
+\section{The Cubic Architecture}
+
+From \cite{geng94_six_degree_of_freed_activ}, 7 properties of cubic configuration:
+\begin{enumerate}
+\item Uniformity in control capability in all directions
+\item Uniformity in stiffness in all directions
+\item Minimum cross coupling force effect among actuators
+\item Facilitate collocated sensor-actuator control system design
+\item Simple kinematics relationships
+\item Simple dynamic analysis
+\item Simple mechanical design
+\end{enumerate}
+
+
+
+\begin{itemize}
+\item Principle
+\item Examples of Stewart platform with Cubic architecture
+\item Different options?
+Center of the cube above the top platform?
+Where to mention that ? With examples
+\end{itemize}
+
+
+
+\section{Static Properties}
+
+Explain that we get diagonal K matrix => static decoupling in the cartesian frame.
+Uniform mobility in X,Y,Z directions
+
+\section{Dynamical Properties?}
+
+\cite{mcinroy00_desig_contr_flexur_joint_hexap}
+
+\cite{afzali-far16_vibrat_dynam_isotr_hexap_analy_studies}:
+\begin{itemize}
+\item proposes an architecture where the CoM can be above the top platform
+\item ``\textbf{Dynamic isotropy}, leading to equal eigenfrequencies, is a powerful optimization measure.''
+\end{itemize}
+
+
+
+\begin{itemize}
+\item Show examples where the dynamics can indeed be decoupled in the cartesian frame (i.e. decoupled K and M matrices)
+\item Better decoupling between the struts? not sure\ldots{}
+Compute the coupling between the struts for a cubic and non-cubic architecture
+\item Same resonance frequencies for suspension modes?
+Maybe in one case: sphere at the CoM?
+Could be nice to show that.
+Say that this can be nice for optimal damping for instance (link to paper explaining that)
+\end{itemize}
+
\chapter{Conclusion}
-\label{sec:nass_geometry_conclusion}
+\label{sec:detail_kinematics_conclusion}
+
+Inertia used for experiments will be very broad => difficult to optimize the dynamics
+Specific geometry is not found to have a huge impact on performances.
+Practical implementation is important.
+
+Geometry impacts the static and dynamical characteristics of the Stewart platform.
+Considering the design constrains, the slight change of geometry will not significantly impact the obtained results.
+
\printbibliography[heading=bibintoc,title={Bibliography}]
\end{document}
diff --git a/preamble.tex b/preamble.tex
index d18dbd9..adafd1c 100644
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index 0000000..98cfc04
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