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Add introduction to the third chapter

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Thomas Dehaeze
2025-04-15 18:01:03 +02:00
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@@ -9419,8 +9419,29 @@ Following the completion of this design phase and the subsequent procurement of
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The experimental validation follows a systematic approach, beginning with the characterization of individual components before advancing to evaluate the assembled system's performance (illustrated in Figure ref:fig:chapter3_overview).
Section ref:sec:test_apa focuses on the Amplified Piezoelectric Actuator (APA300ML), examining its electrical properties, and dynamical behavior.
Two models are developed and validated: a simplified two degrees-of-freedom model and a more complex super-element extracted from finite element analysis.
The implementation of Integral Force Feedback is also experimentally evaluated to assess its effectiveness in adding damping to the system.
In Section ref:sec:test_joints, the flexible joints are characterized to ensure they meet the required specifications for stiffness and stroke.
A dedicated test bench is developed to measure the bending stiffness, with error analysis performed to validate the measurement accuracy.
Section ref:sec:test_struts examines the assembly and testing of the struts, which integrate the APAs and flexible joints.
The mounting procedure is detailed, with particular attention to ensure consistent performance across multiple struts.
Dynamical measurements are performed to verify whether the dynamics of the struts are corresponding to the multi-body model.
The assembly and testing of the complete nano-hexapod is presented in Section ref:sec:test_nhexa.
A suspended table is developed to isolate the hexapod's dynamics from support dynamics, enabling accurate identification of its dynamical properties.
The experimental frequency response functions are compared with the multi-body model predictions to validate the modeling approach.
The effects of various payload masses are also investigated.
Finally, Section ref:sec:test_id31 presents the validation of the NASS on the ID31 beamline.
A short-stroke metrology system is developed to measure the sample position relative to the granite base.
The HAC-LAC control architecture is implemented and tested under various experimental conditions, including payload masses up to $39\,\text{kg}$ and for typical experiments, including tomography scans, reflectivity measurements, and diffraction tomography.
#+name: fig:chapter3_overview
#+caption: Figure caption
#+caption: Overview of the Experimental validation phase. The actuators and flexible joints and individual tested and then integrated into the struts. The Nano-hexapod is then mounted and the complete system is validated on the ID31 beamline.
#+attr_org: :width 800px
#+attr_latex: :width \linewidth
[[file:figs/chapter3_overview.png]]