Analytical Stiffness Optimization of High-Precision Hexapods for Large Optical Telescope Applications
Afzali Far, Behrouz; Lidström, Per; Nilsson, Kristina; Ardeberg, Arne (2012). Analytical Stiffness Optimization of High-Precision Hexapods for Large Optical Telescope Applications. Persson, K.; Sandberg, G.; Wallin, M. (Eds.). Proceedings of the 25th Nordic seminar on computational mechanics. 25th Nordic Seminar on Computational Mechanics, 2012. Lund, Sweden
Conference Proceeding/Paper
|
Published
|
English
Authors:
Afzali Far, Behrouz
;
Lidström, Per
;
Nilsson, Kristina
;
Ardeberg, Arne
Editors:
Persson, K.
;
Sandberg, G.
;
Wallin, M.
Abstract:
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.
Keywords:
Gough Stewart platform ;
hexapod ;
analytical ;
stiffness ;
eigenfrequency ;
telescope
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