Alternative architecture and control strategy july 2010 - joe beno

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An Alternative Architecture and Control Strategy for Hexapod Positioning Systems to Simplify Structural Design and Improve Accuracy ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

U niversity of Texas Center for Electromechanics ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Tracker Test Stand being Erected in CEM Lab CEM Machine Shop CEM High-Bay Lab Facility

Historical Context and Motivation ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Goal: Enable simple integration of direct linear sensors for better accuracy and reduce stiffness requirement (and mass) of actuators

Overview ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Primary Application: Large, high precision, high accuracy hexapods with large payloads Force Actuator Displacement Sensor Lower Frame Upper Frame

Controls Approach Overview ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Controls Approach Overview ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Forward Kinematics Solution ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Forward Kinematics Solution ( A n =  B n ) Force Actuator Displacement Sensor Lower Frame Upper Frame

Forward Kinematics Solution Set #1 of 3 equations in 3 unknowns Ji & Wu 2001 Set #2 of 3 equations in 3 unknowns

Forward Kinematics Solution ,[object Object],[object Object],[object Object],[object Object],[object Object]

Forward Kinematics Solution ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Terms picked out by Eqn Set #2

Forward Kinematics Solution ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Terms picked out by Eqn Set #2

Forward Kinematics Solution ,[object Object],[object Object],[object Object],[object Object]

Determine Real Actuator Force ,[object Object],[object Object],[object Object]

Sensor Considerations ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Sensor example: Heidenhain LC 183

Benefits ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

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