160 lines
6.2 KiB
HTML
160 lines
6.2 KiB
HTML
<?xml version="1.0" encoding="utf-8"?>
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
|
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
|
<head>
|
|
<!-- 2021-06-15 mar. 13:03 -->
|
|
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
|
<title>Nano-Hexapod Struts mounting - Test Bench</title>
|
|
<meta name="author" content="Dehaeze Thomas" />
|
|
<meta name="generator" content="Org Mode" />
|
|
<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
|
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
|
</head>
|
|
<body>
|
|
<div id="org-div-home-and-up">
|
|
<a accesskey="h" href="../index.html"> UP </a>
|
|
|
|
|
<a accesskey="H" href="../index.html"> HOME </a>
|
|
</div><div id="content">
|
|
<h1 class="title">Nano-Hexapod Struts mounting - Test Bench</h1>
|
|
<div id="table-of-contents">
|
|
<h2>Table of Contents</h2>
|
|
<div id="text-table-of-contents">
|
|
<ul>
|
|
<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>
|
|
<hr>
|
|
<p>This report is also available as a <a href="./test-bench-strut-mounting.pdf">pdf</a>.</p>
|
|
<hr>
|
|
|
|
<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>
|
|
|
|
<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>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. 13:03</p>
|
|
</div>
|
|
</body>
|
|
</html>
|