Analytical Stiffness Optimization of High-Precision Hexapods for Large Optical Telescope Applications
Författare
Redaktör
- K. Persson
- G. Sandberg
- M. Wallin
Summary, in English
An analytical stiffness and eigenfrequency model of symmetric parallel 6-6 Stewart
platforms (hexapods) is developed based on geometrical design variables to optimize the
dynamical performance. The model is based upon Lagrangean dynamics in which the Bryant
angles are used for the kinematics formulation. With the analytical eigenfrequency model,
optimum stiffness characteristics can be obtained for any industrial application with limited
workspace such as optical collimation systems. The actuator length-flexibility dependency is
also considered in the analytical model. It is proposed that to increase the actuation bandwidth
in six degrees of freedom, an eigenfrequency cost function can be defined and optimized.
platforms (hexapods) is developed based on geometrical design variables to optimize the
dynamical performance. The model is based upon Lagrangean dynamics in which the Bryant
angles are used for the kinematics formulation. With the analytical eigenfrequency model,
optimum stiffness characteristics can be obtained for any industrial application with limited
workspace such as optical collimation systems. The actuator length-flexibility dependency is
also considered in the analytical model. It is proposed that to increase the actuation bandwidth
in six degrees of freedom, an eigenfrequency cost function can be defined and optimized.
Publiceringsår
2012
Språk
Engelska
Publikation/Tidskrift/Serie
Proceedings of the 25th Nordic seminar on computational mechanics
Länkar
Dokumenttyp
Konferensbidrag
Ämne
- Applied Mechanics
Nyckelord
- Gough Stewart platform
- hexapod
- analytical
- stiffness
- eigenfrequency
- telescope
Conference name
25th Nordic Seminar on Computational Mechanics, 2012
Conference date
2012-10-25 - 2012-10-26
Conference place
Lund, Sweden
Status
Published