Add images and some comments
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tdehaeze committed
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Nano-Hexapod Struts mounting - Test Bench</title>
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<meta name="author" content="Dehaeze Thomas" />
|
||||
@@ -22,7 +22,9 @@
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orgd264bba">1. Mounting Procedure</a></li>
|
||||
<li><a href="#org9878d8b">1. Mounting Bench</a></li>
|
||||
<li><a href="#org966c512">2. Mounting Procedure</a></li>
|
||||
<li><a href="#orgb0eacce">3. Mounted Struts</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
@@ -30,21 +32,128 @@
|
||||
<p>This report is also available as a <a href="./test-bench-strut-mounting.pdf">pdf</a>.</p>
|
||||
<hr>
|
||||
|
||||
<div id="outline-container-orgd264bba" class="outline-2">
|
||||
<h2 id="orgd264bba"><span class="section-number-2">1</span> Mounting Procedure</h2>
|
||||
<div id="outline-container-org9878d8b" class="outline-2">
|
||||
<h2 id="org9878d8b"><span class="section-number-2">1</span> Mounting Bench</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
A mounting bench is used to greatly simply the mounting of the struts as well as ensuring the correct strut length and coaxiality of the flexible joint’s interfaces.
|
||||
This is very important in order to not loose any stroke when the struts will be mounted on the nano-hexapod.
|
||||
</p>
|
||||
|
||||
<div id="org8903a7d" class="figure">
|
||||
<p>
|
||||
A CAD view of the mounting bench is shown in Figure <a href="#orgaa44f2b">1</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgaa44f2b" class="figure">
|
||||
<p><img src="figs/strut_mounting_bench_first_concept.png" alt="strut_mounting_bench_first_concept.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>First concept for the mounting bench</p>
|
||||
<p><span class="figure-number">Figure 1: </span>CAD view of the mounting bench</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The main part of the bench is here to ensure both the correct strut length and strut coaxiality as shown in Figure <a href="#org8ae5cec">2</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org8ae5cec" class="figure">
|
||||
<p><img src="figs/strut_mounting_step_0.jpg" alt="strut_mounting_step_0.jpg" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Useful features of the main mounting element</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The tight tolerances of this element has been verified as shown in Figure <a href="#orgaa44f2b">1</a> and were found to comply with the requirements.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org9be7f95" class="figure">
|
||||
<p><img src="figs/check_dimensions_bench.jpg" alt="check_dimensions_bench.jpg" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Dimensional verifications of the mounting bench tolerances</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The flexible joints are rigidly fixed to cylindrical tools shown in Figure <a href="#org9afa88e">4</a> which are then mounted on the mounting tool shown in Figure <a href="#org8ae5cec">2</a>.
|
||||
This cylindrical tool is here to protect the flexible joints when tightening the screws and therefore applying large torque.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org9afa88e" class="figure">
|
||||
<p><img src="figs/cylindrical_mounting_part.jpg" alt="cylindrical_mounting_part.jpg" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Cylindrical mounting elements</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org966c512" class="outline-2">
|
||||
<h2 id="org966c512"><span class="section-number-2">2</span> Mounting Procedure</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<p>
|
||||
The mounting procedure is as follows:
|
||||
</p>
|
||||
<ol class="org-ol">
|
||||
<li>Screw flexible joints inside the cylindrical interface element shown in Figure <a href="#org9afa88e">4</a> (Figure <a href="#orgf4a847f">5</a>)</li>
|
||||
<li>Fix the two interface elements. One of the two should be clamped, the other one should have its axial rotation free.
|
||||
Visually align the clamped one horizontally. (Figure <a href="#org9c97ee7">6</a>)</li>
|
||||
<li>Put cylindrical washers, APA and interface pieces on top of the flexible joints (Figure <a href="#org69b91a9">7</a>)</li>
|
||||
<li>Put the 4 screws just in contact such that everything is correctly positioned and such that the “free” flexible joint is correctly oriented</li>
|
||||
<li>Put the 8 lateral screws in contact</li>
|
||||
<li>Tighten the 4 screws to fix the APA on the two flexible joints (using a torque screwdriver)</li>
|
||||
<li>Remove the 4 laterals screws</li>
|
||||
<li>(optional) Put the APA horizontally and fix the encoder and align it to maximize the contrast (Figure <a href="#org0cdb94c">8</a>)</li>
|
||||
</ol>
|
||||
|
||||
|
||||
<div id="orgf4a847f" class="figure">
|
||||
<p><img src="figs/strut_mounting_step_1.jpg" alt="strut_mounting_step_1.jpg" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Step 1 - Flexible joints fixed on the cylindrical interface elements</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org9c97ee7" class="figure">
|
||||
<p><img src="figs/strut_mounting_step_2.jpg" alt="strut_mounting_step_2.jpg" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Step 2 - Cylindrical elements fixed on the bench</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org69b91a9" class="figure">
|
||||
<p><img src="figs/strut_mounting_step_3.jpg" alt="strut_mounting_step_3.jpg" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Step 3 - Mount the nuts, washers and APA</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org0cdb94c" class="figure">
|
||||
<p><img src="figs/strut_mounting_step_4.jpg" alt="strut_mounting_step_4.jpg" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Last step - Align the encoder on the strut</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb0eacce" class="outline-2">
|
||||
<h2 id="orgb0eacce"><span class="section-number-2">3</span> Mounted Struts</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
After removing the strut from the mounting bench, we obtain a strut with ensured coaxiality between the two flexible joint’s interfaces (Figure <a href="#orgdfadad9">9</a>).
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgdfadad9" class="figure">
|
||||
<p><img src="figs/mounted_strut.jpg" alt="mounted_strut.jpg" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Mounted Strut with ensured coaxiality</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2021-06-15 mar. 09:39</p>
|
||||
<p class="date">Created: 2021-06-15 mar. 13:03</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
@@ -48,9 +48,78 @@
|
||||
|
||||
#+latex: \clearpage
|
||||
|
||||
* Mounting Procedure
|
||||
* Mounting Bench
|
||||
|
||||
A mounting bench is used to greatly simply the mounting of the struts as well as ensuring the correct strut length and coaxiality of the flexible joint's interfaces.
|
||||
This is very important in order to not loose any stroke when the struts will be mounted on the nano-hexapod.
|
||||
|
||||
A CAD view of the mounting bench is shown in Figure [[fig:strut_mounting_bench_first_concept]].
|
||||
|
||||
#+name: fig:strut_mounting_bench_first_concept
|
||||
#+caption: First concept for the mounting bench
|
||||
#+caption: CAD view of the mounting bench
|
||||
#+attr_latex: :width \linewidth
|
||||
[[file:figs/strut_mounting_bench_first_concept.png]]
|
||||
|
||||
The main part of the bench is here to ensure both the correct strut length and strut coaxiality as shown in Figure [[fig:strut_mounting_step_0]].
|
||||
|
||||
#+name: fig:strut_mounting_step_0
|
||||
#+caption: Useful features of the main mounting element
|
||||
#+attr_latex: :width \linewidth
|
||||
[[file:figs/strut_mounting_step_0.jpg]]
|
||||
|
||||
The tight tolerances of this element has been verified as shown in Figure [[fig:strut_mounting_bench_first_concept]] and were found to comply with the requirements.
|
||||
|
||||
#+name: fig:strut_mounting_bench_first_concept
|
||||
#+caption: Dimensional verifications of the mounting bench tolerances
|
||||
#+attr_latex: :width \linewidth
|
||||
[[file:figs/check_dimensions_bench.jpg]]
|
||||
|
||||
The flexible joints are rigidly fixed to cylindrical tools shown in Figure [[fig:cylindrical_mounting_part]] which are then mounted on the mounting tool shown in Figure [[fig:strut_mounting_step_0]].
|
||||
This cylindrical tool is here to protect the flexible joints when tightening the screws and therefore applying large torque.
|
||||
|
||||
#+name: fig:cylindrical_mounting_part
|
||||
#+caption: Cylindrical mounting elements
|
||||
#+attr_latex: :width \linewidth
|
||||
[[file:figs/cylindrical_mounting_part.jpg]]
|
||||
|
||||
* Mounting Procedure
|
||||
|
||||
The mounting procedure is as follows:
|
||||
1. Screw flexible joints inside the cylindrical interface element shown in Figure [[fig:cylindrical_mounting_part]] (Figure [[fig:strut_mounting_step_1]])
|
||||
2. Fix the two interface elements. One of the two should be clamped, the other one should have its axial rotation free.
|
||||
Visually align the clamped one horizontally. (Figure [[fig:strut_mounting_step_2]])
|
||||
3. Put cylindrical washers, APA and interface pieces on top of the flexible joints (Figure [[fig:strut_mounting_step_3]])
|
||||
4. Put the 4 screws just in contact such that everything is correctly positioned and such that the "free" flexible joint is correctly oriented
|
||||
5. Put the 8 lateral screws in contact
|
||||
6. Tighten the 4 screws to fix the APA on the two flexible joints (using a torque screwdriver)
|
||||
7. Remove the 4 laterals screws
|
||||
8. (optional) Put the APA horizontally and fix the encoder and align it to maximize the contrast (Figure [[fig:strut_mounting_step_4]])
|
||||
|
||||
#+name: fig:strut_mounting_step_1
|
||||
#+caption: Step 1 - Flexible joints fixed on the cylindrical interface elements
|
||||
#+attr_latex: :width 0.5\linewidth
|
||||
[[file:figs/strut_mounting_step_1.jpg]]
|
||||
|
||||
#+name: fig:strut_mounting_step_2
|
||||
#+caption: Step 2 - Cylindrical elements fixed on the bench
|
||||
#+attr_latex: :width \linewidth
|
||||
[[file:figs/strut_mounting_step_2.jpg]]
|
||||
|
||||
#+name: fig:strut_mounting_step_3
|
||||
#+caption: Step 3 - Mount the nuts, washers and APA
|
||||
#+attr_latex: :width \linewidth
|
||||
[[file:figs/strut_mounting_step_3.jpg]]
|
||||
|
||||
#+name: fig:strut_mounting_step_4
|
||||
#+caption: Last step - Align the encoder on the strut
|
||||
#+attr_latex: :width \linewidth
|
||||
[[file:figs/strut_mounting_step_4.jpg]]
|
||||
|
||||
* Mounted Struts
|
||||
|
||||
After removing the strut from the mounting bench, we obtain a strut with ensured coaxiality between the two flexible joint's interfaces (Figure [[fig:mounted_strut]]).
|
||||
|
||||
#+name: fig:mounted_strut
|
||||
#+caption: Mounted Strut with ensured coaxiality
|
||||
#+attr_latex: :width \linewidth
|
||||
[[file:figs/mounted_strut.jpg]]
|
||||
Binary file not shown.
Reference in new issue
Block a user