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Update Bench Schematic

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Thomas Dehaeze
2021-01-04 10:56:26 +01:00
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commit 26f79eb98f
5 changed files with 218 additions and 174 deletions
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@@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-12-15 mar. 22:32 -->
<!-- 2020-12-17 jeu. 14:47 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Flexible Joint - Test Bench</title>
<meta name="generator" content="Org mode" />
@@ -30,21 +30,22 @@
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#org3ec0fb6">1. Test Bench Description</a>
<li><a href="#org7f5c1ab">1. Test Bench Description</a>
<ul>
<li><a href="#org1c35c31">1.1. Flexible joint Geometry</a></li>
<li><a href="#org943ed6d">1.2. Required external applied force</a></li>
<li><a href="#org866642a">1.3. Required actuator stroke and sensors range</a></li>
<li><a href="#org4789077">1.4. First try with the APA95ML</a></li>
<li><a href="#orgb03e5df">1.1. Flexible joint Geometry</a></li>
<li><a href="#org57bd1c6">1.2. Required external applied force</a></li>
<li><a href="#org944d593">1.3. Required actuator stroke and sensors range</a></li>
<li><a href="#org334e651">1.4. First try with the APA95ML</a></li>
<li><a href="#orgc4f4cc8">1.5. Test Bench</a></li>
</ul>
</li>
<li><a href="#org75cb5e5">2. Experimental measurement</a></li>
<li><a href="#orgbe54fa0">2. Experimental measurement</a></li>
</ul>
</div>
</div>
<div id="outline-container-org3ec0fb6" class="outline-2">
<h2 id="org3ec0fb6"><span class="section-number-2">1</span> Test Bench Description</h2>
<div id="outline-container-org7f5c1ab" class="outline-2">
<h2 id="org7f5c1ab"><span class="section-number-2">1</span> Test Bench Description</h2>
<div class="outline-text-2" id="text-1">
<p>
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
</p>
<div id="org12e0ba4" class="figure">
<div id="org9b87bf2" class="figure">
<p><img src="figs/test-bench-schematic.png" alt="test-bench-schematic.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Schematic of the test bench to measure the bending stiffness of the flexible joints</p>
</div>
</div>
<div id="outline-container-org1c35c31" class="outline-3">
<h3 id="org1c35c31"><span class="section-number-3">1.1</span> Flexible joint Geometry</h3>
<div id="outline-container-orgb03e5df" class="outline-3">
<h3 id="orgb03e5df"><span class="section-number-3">1.1</span> Flexible joint Geometry</h3>
<div class="outline-text-3" id="text-1-1">
<p>
The flexible joint used for the Nano-Hexapod is shown in Figure <a href="#org907b319">2</a>.
The flexible joint used for the Nano-Hexapod is shown in Figure <a href="#orga662ff4">2</a>.
Its bending stiffness is foreseen to be \(k_{R_y}\approx 20\,\frac{Nm}{rad}\) and its stroke \(\theta_{y,\text{max}}\approx 20\,mrad\).
</p>
<div id="org907b319" class="figure">
<div id="orga662ff4" class="figure">
<p><img src="figs/flexible_joint_geometry.png" alt="flexible_joint_geometry.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Geometry of the flexible joint</p>
@@ -98,8 +99,8 @@ h = 20e<span class="org-type">-</span>3; <span class="org-comment">% Height [m]<
</div>
</div>
<div id="outline-container-org943ed6d" class="outline-3">
<h3 id="org943ed6d"><span class="section-number-3">1.2</span> Required external applied force</h3>
<div id="outline-container-org57bd1c6" class="outline-3">
<h3 id="org57bd1c6"><span class="section-number-3">1.2</span> Required external applied force</h3>
<div class="outline-text-3" id="text-1-2">
<p>
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 \(20\,N\).
</div>
</div>
<div id="outline-container-org866642a" class="outline-3">
<h3 id="org866642a"><span class="section-number-3">1.3</span> Required actuator stroke and sensors range</h3>
<div id="outline-container-org944d593" class="outline-3">
<h3 id="org944d593"><span class="section-number-3">1.3</span> Required actuator stroke and sensors range</h3>
<div class="outline-text-3" id="text-1-3">
<p>
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.
</div>
</div>
<div id="outline-container-org4789077" class="outline-3">
<h3 id="org4789077"><span class="section-number-3">1.4</span> First try with the APA95ML</h3>
<div id="outline-container-org334e651" class="outline-3">
<h3 id="org334e651"><span class="section-number-3">1.4</span> First try with the APA95ML</h3>
<div class="outline-text-3" id="text-1-4">
<p>
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}
</div>
</div>
<div id="outline-container-orgc4f4cc8" class="outline-3">
<h3 id="orgc4f4cc8"><span class="section-number-3">1.5</span> Test Bench</h3>
<div class="outline-text-3" id="text-1-5">
<div id="org9367697" class="figure">
<p><img src="figs/test-bench-schematic.png" alt="test-bench-schematic.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Schematic of the test bench to measure the bending stiffness of the flexible joints</p>
</div>
<div id="outline-container-org75cb5e5" class="outline-2">
<h2 id="org75cb5e5"><span class="section-number-2">2</span> Experimental measurement</h2>
<div class="note" id="org93975e7">
<ul class="org-ul">
<li>Manual Translation Stage</li>
<li>Load Cell TE Connectivity <a href="doc/A700000007147087.pdf">FC2231-0000-0010-L</a></li>
<li>Encoder: Renishaw <a href="doc/L-9517-9448-05-B_Data_sheet_RESOLUTE_BiSS_en.pdf">Resolute 1nm</a></li>
</ul>
</div>
</div>
</div>
</div>
<div id="outline-container-orgbe54fa0" class="outline-2">
<h2 id="orgbe54fa0"><span class="section-number-2">2</span> Experimental measurement</h2>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-12-15 mar. 22:32</p>
<p class="date">Created: 2020-12-17 jeu. 14:47</p>
</div>
</body>
</html>