126 lines
5.5 KiB
Org Mode
126 lines
5.5 KiB
Org Mode
#+TITLE: Nano-Hexapod Struts mounting - Test Bench
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:DRAWER:
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
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#+BIND: org-latex-image-default-option "scale=1"
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#+BIND: org-latex-image-default-width ""
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#+LaTeX_CLASS: scrreprt
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#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full]
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#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :noweb yes
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results file raw replace
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#+PROPERTY: header-args:latex+ :buffer no
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#+PROPERTY: header-args:latex+ :tangle no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports results
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
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:END:
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#+begin_export html
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<hr>
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<p>This report is also available as a <a href="./test-bench-strut-mounting.pdf">pdf</a>.</p>
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<hr>
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#+end_export
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#+latex: \clearpage
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* Mounting Bench
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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.
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This is very important in order to not loose any stroke when the struts will be mounted on the nano-hexapod.
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A CAD view of the mounting bench is shown in Figure [[fig:strut_mounting_bench_first_concept]].
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#+name: fig:strut_mounting_bench_first_concept
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#+caption: CAD view of the mounting bench
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#+attr_latex: :width \linewidth
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[[file:figs/strut_mounting_bench_first_concept.png]]
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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]].
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#+name: fig:strut_mounting_step_0
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#+caption: Useful features of the main mounting element
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#+attr_latex: :width \linewidth
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[[file:figs/strut_mounting_step_0.jpg]]
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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.
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#+name: fig:strut_mounting_bench_first_concept
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#+caption: Dimensional verifications of the mounting bench tolerances
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#+attr_latex: :width \linewidth
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[[file:figs/check_dimensions_bench.jpg]]
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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]].
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This cylindrical tool is here to protect the flexible joints when tightening the screws and therefore applying large torque.
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#+name: fig:cylindrical_mounting_part
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#+caption: Cylindrical mounting elements
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#+attr_latex: :width \linewidth
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[[file:figs/cylindrical_mounting_part.jpg]]
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* Mounting Procedure
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The mounting procedure is as follows:
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1. Screw flexible joints inside the cylindrical interface element shown in Figure [[fig:cylindrical_mounting_part]] (Figure [[fig:strut_mounting_step_1]])
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2. Fix the two interface elements. One of the two should be clamped, the other one should have its axial rotation free.
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Visually align the clamped one horizontally. (Figure [[fig:strut_mounting_step_2]])
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3. Put cylindrical washers, APA and interface pieces on top of the flexible joints (Figure [[fig:strut_mounting_step_3]])
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4. Put the 4 screws just in contact such that everything is correctly positioned and such that the "free" flexible joint is correctly oriented
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5. Put the 8 lateral screws in contact
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6. Tighten the 4 screws to fix the APA on the two flexible joints (using a torque screwdriver)
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7. Remove the 4 laterals screws
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8. (optional) Put the APA horizontally and fix the encoder and align it to maximize the contrast (Figure [[fig:strut_mounting_step_4]])
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#+name: fig:strut_mounting_step_1
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#+caption: Step 1 - Flexible joints fixed on the cylindrical interface elements
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#+attr_latex: :width 0.5\linewidth
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[[file:figs/strut_mounting_step_1.jpg]]
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#+name: fig:strut_mounting_step_2
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#+caption: Step 2 - Cylindrical elements fixed on the bench
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#+attr_latex: :width \linewidth
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[[file:figs/strut_mounting_step_2.jpg]]
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#+name: fig:strut_mounting_step_3
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#+caption: Step 3 - Mount the nuts, washers and APA
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#+attr_latex: :width \linewidth
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[[file:figs/strut_mounting_step_3.jpg]]
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#+name: fig:strut_mounting_step_4
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#+caption: Last step - Align the encoder on the strut
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#+attr_latex: :width \linewidth
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[[file:figs/strut_mounting_step_4.jpg]]
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* Mounted Struts
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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]]).
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#+name: fig:mounted_strut
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#+caption: Mounted Strut with ensured coaxiality
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#+attr_latex: :width \linewidth
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[[file:figs/mounted_strut.jpg]]
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