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    Table of Contents

    -
    -

    1 Test Bench Description

    +
    +

    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

    -
    +

    test-bench-schematic.png

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

    -
    -

    1.1 Flexible joint Geometry

    +
    +

    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 \(\theta_{y,\text{max}}\approx 20\,mrad\).

    -
    +

    flexible_joint_geometry.png

    Figure 2: Geometry of the flexible joint

    @@ -98,8 +99,8 @@ h = 20e-3; % Height [m]<
    -
    -

    1.2 Required external applied force

    +
    +

    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 \(20\,N\).

    -
    -

    1.3 Required actuator stroke and sensors range

    +
    +

    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.

    -
    -

    1.4 First try with the APA95ML

    +
    +

    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

    +
    + +
    +

    test-bench-schematic.png +

    +

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

    -
    -

    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