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Thomas Dehaeze 2024-11-18 13:00:57 +01:00
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test-bench-flexible-joints.org
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@ -1121,15 +1121,6 @@ exportFig('figs/test_joints_bend_stiff_hist.pdf', 'width', 'half', 'height', 'no
#+end_subfigure #+end_subfigure
#+end_figure #+end_figure
** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:
The measured bending stiffness and bending stroke of the flexible joints are very close to the estimated one using a Finite Element Model ($k_{R_x} = k_{R_y} = 5\,Nm/\text{rad}$).
The characteristics of the flexible joints are also quite close to each other.
This should allow us to model them using unique parameters.
* Conclusion * Conclusion
:PROPERTIES: :PROPERTIES:
:UNNUMBERED: t :UNNUMBERED: t
@ -1142,7 +1133,7 @@ This was crucial in preventing potential complications that could have arisen fr
A dedicated test bench was developed to asses the bending stiffness of the flexible joints. A dedicated test bench was developed to asses the bending stiffness of the flexible joints.
Through meticulous error analysis and budgeting, a satisfactory level of measurement accuracy could be guaranteed. Through meticulous error analysis and budgeting, a satisfactory level of measurement accuracy could be guaranteed.
The measured bending stiffness values exhibited good agreement with the predictions from the finite element model The measured bending stiffness values exhibited good agreement with the predictions from the finite element model ($k_{R_x} = k_{R_y} = 5\,Nm/\text{rad}$).
These measurements are helpful for refining the model of the flexible joints, thereby enhancing the overall accuracy of the nano-hexapod model. These measurements are helpful for refining the model of the flexible joints, thereby enhancing the overall accuracy of the nano-hexapod model.
Furthermore, the data obtained from these measurements have provided the necessary information to select the most suitable flexible joints for the nano-hexapod, ensuring optimal performance. Furthermore, the data obtained from these measurements have provided the necessary information to select the most suitable flexible joints for the nano-hexapod, ensuring optimal performance.

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test-bench-flexible-joints.pdf
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test-bench-flexible-joints.tex
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% Created 2024-11-08 Fri 17:20 % Created 2024-11-18 Mon 13:00
% Intended LaTeX compiler: pdflatex % Intended LaTeX compiler: pdflatex
\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt} \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
@ -494,11 +494,6 @@ Most of the bending stiffnesses are between \(4.6\,Nm/rad\) and \(5.0\,Nm/rad\).
\caption{\label{fig:test_joints_meas_bending_results}Result of measured \(k_{R_x}\) and \(k_{R_y}\) stiffnesses for the 16 flexible joints. Raw data are shown in (\subref{fig:test_joints_meas_bending_all_raw_data}). A histogram of the measured stiffnesses is shown in (\subref{fig:test_joints_bend_stiff_hist})} \caption{\label{fig:test_joints_meas_bending_results}Result of measured \(k_{R_x}\) and \(k_{R_y}\) stiffnesses for the 16 flexible joints. Raw data are shown in (\subref{fig:test_joints_meas_bending_all_raw_data}). A histogram of the measured stiffnesses is shown in (\subref{fig:test_joints_bend_stiff_hist})}
\end{figure} \end{figure}
\section*{Conclusion}
The measured bending stiffness and bending stroke of the flexible joints are very close to the estimated one using a Finite Element Model (\(k_{R_x} = k_{R_y} = 5\,Nm/\text{rad}\)).
The characteristics of the flexible joints are also quite close to each other.
This should allow us to model them using unique parameters.
\chapter*{Conclusion} \chapter*{Conclusion}
\label{sec:test_joints_conclusion} \label{sec:test_joints_conclusion}
@ -508,7 +503,7 @@ This was crucial in preventing potential complications that could have arisen fr
A dedicated test bench was developed to asses the bending stiffness of the flexible joints. A dedicated test bench was developed to asses the bending stiffness of the flexible joints.
Through meticulous error analysis and budgeting, a satisfactory level of measurement accuracy could be guaranteed. Through meticulous error analysis and budgeting, a satisfactory level of measurement accuracy could be guaranteed.
The measured bending stiffness values exhibited good agreement with the predictions from the finite element model The measured bending stiffness values exhibited good agreement with the predictions from the finite element model (\(k_{R_x} = k_{R_y} = 5\,Nm/\text{rad}\)).
These measurements are helpful for refining the model of the flexible joints, thereby enhancing the overall accuracy of the nano-hexapod model. These measurements are helpful for refining the model of the flexible joints, thereby enhancing the overall accuracy of the nano-hexapod model.
Furthermore, the data obtained from these measurements have provided the necessary information to select the most suitable flexible joints for the nano-hexapod, ensuring optimal performance. Furthermore, the data obtained from these measurements have provided the necessary information to select the most suitable flexible joints for the nano-hexapod, ensuring optimal performance.