diff --git a/figs/test-bench-schematic.pdf b/figs/test-bench-schematic.pdf index bf7441d..3c9214f 100644 Binary files a/figs/test-bench-schematic.pdf and b/figs/test-bench-schematic.pdf differ diff --git a/figs/test-bench-schematic.png b/figs/test-bench-schematic.png index e459d1e..f767b73 100644 Binary files a/figs/test-bench-schematic.png and b/figs/test-bench-schematic.png differ diff --git a/figs/test-bench-schematic.svg b/figs/test-bench-schematic.svg index 9d3c330..428f001 100644 --- a/figs/test-bench-schematic.svg +++ b/figs/test-bench-schematic.svg @@ -7,9 +7,9 @@ xmlns="http://www.w3.org/2000/svg" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" - width="118.88229mm" - height="96.435089mm" - viewBox="0 0 118.8823 96.435089" + width="164.32611mm" + height="77.430962mm" + viewBox="0 0 164.32612 77.430962" version="1.1" id="svg15416" inkscape:version="1.0.1 (3bc2e813f5, 2020-09-07)" @@ -86,6 +86,20 @@ style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1" id="path11243-6" /> + + + + transform="translate(85.56398,-51.164121)"> + + sodipodi:nodetypes="ccccccc" + id="path861" + d="m 44.558159,47.611751 v 1.05834 0 7.365695 h 0.547355 v -8.424035 z" + style="font-variation-settings:normal;opacity:1;vector-effect:none;fill:#000000;fill-opacity:0.2;stroke:#000000;stroke-width:0.0857978;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;stop-color:#000000;stop-opacity:1" /> + style="fill:none;stroke:#000000;stroke-width:0.0857978;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" + d="M 45.142392,55.538192 H 44.75851" + id="path867-2" /> + id="path867-3-9" + d="M 45.142392,55.009022 H 44.75851" + style="fill:none;stroke:#000000;stroke-width:0.0857978;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" /> + id="path867-6-1" + d="M 45.142392,54.479848 H 44.75851" + style="fill:none;stroke:#000000;stroke-width:0.0857978;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" /> + + + + + + + + + + + + - - - - - - - - - - - - - - - - Encoder - APA 95 ML - LoadCell - Half Cylinder - + x="2.5025311" + y="41.692532" + style="stroke-width:0.0227007">Encoder + LoadCell + Half Cylinder + style="fill:none;stroke:#000000;stroke-width:0.265001;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker11245-6)" + d="m 59.154089,52.259105 h -2.599631 l -4.785269,8.941342" + id="path2187" + sodipodi:nodetypes="ccc" /> + + + + Manual Translation Table diff --git a/index.html b/index.html index 640db8c..7fea54f 100644 --- a/index.html +++ b/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Flexible Joint - Test Bench @@ -30,21 +30,22 @@

Table of Contents

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-

1 Test Bench Description

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+

1 Test Bench Description

The main characteristic of the flexible joint that we want to measure is its bending stiffness \(k_{R_x} \approx k_{R_y}\). @@ -60,23 +61,23 @@ The basic idea is to measured the angular deflection of the flexible joint as a

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+

test-bench-schematic.png

Figure 1: Schematic of the test bench to measure the bending stiffness of the flexible joints

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-

1.1 Flexible joint Geometry

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+

1.1 Flexible joint Geometry

-The flexible joint used for the Nano-Hexapod is shown in Figure 2. +The flexible joint used for the Nano-Hexapod is shown in Figure 2. Its bending stiffness is foreseen to be \(k_{R_y}\approx 20\,\frac{Nm}{rad}\) and its stroke \(\theta_{y,\text{max}}\approx 20\,mrad\).

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+

flexible_joint_geometry.png

Figure 2: Geometry of the flexible joint

@@ -98,8 +99,8 @@ h = 20e-3; % Height [m]<
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1.2 Required external applied force

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+

1.2 Required external applied force

The bending \(\theta_y\) of the flexible joint due to the force \(F_x\) is: @@ -131,8 +132,8 @@ The measurement range of the force sensor should then be higher than \(20\,N\).

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1.3 Required actuator stroke and sensors range

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+

1.3 Required actuator stroke and sensors range

The flexible joint is designed to allow a bending motion of \(\pm 20\,mrad\). @@ -157,8 +158,8 @@ The measurement range of the displacement sensor should also be higher than \(0.

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-

1.4 First try with the APA95ML

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+

1.4 First try with the APA95ML

The APA95ML as a stroke of \(100\,\mu m\) and the encoder in parallel can easily measure the required stroke. @@ -185,15 +186,36 @@ And the tested angular range is: \begin{equation} \theta_{max} = 5.0\, [mrad] \end{equation}

+ +
+

1.5 Test Bench

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+ +
+

test-bench-schematic.png +

+

Figure 3: Schematic of the test bench to measure the bending stiffness of the flexible joints

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-

2 Experimental measurement

+
+ + +
+
+
+
+ +
+

2 Experimental measurement

Author: Dehaeze Thomas

-

Created: 2020-12-15 mar. 22:32

+

Created: 2020-12-17 jeu. 14:47

diff --git a/index.org b/index.org index db8dad5..a942aa9 100644 --- a/index.org +++ b/index.org @@ -155,4 +155,16 @@ And the tested angular range is: #+RESULTS: \begin{equation} \theta_{max} = 5.0\, [mrad] \end{equation} +** Test Bench + +#+name: fig:test-bench-schematic +#+caption: Schematic of the test bench to measure the bending stiffness of the flexible joints +[[file:figs/test-bench-schematic.png]] + +#+begin_note +- Manual Translation Stage +- Load Cell TE Connectivity [[file:doc/A700000007147087.pdf][FC2231-0000-0010-L]] +- Encoder: Renishaw [[file:doc/L-9517-9448-05-B_Data_sheet_RESOLUTE_BiSS_en.pdf][Resolute 1nm]] +#+end_note + * Experimental measurement