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Analytical Stiffness Optimization of High-Precision Hexapods for Large Optical Telescope Applications

Afzali Far, Behrouz LU ; Lidström, Per LU ; Nilsson, Kristina LU and Ardeberg, Arne LU (2012) 25th Nordic Seminar on Computational Mechanics, 2012 In Proceedings of the 25th Nordic seminar on computational mechanics
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... (More)
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. (Less)
Please use this url to cite or link to this publication:
author
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Gough Stewart platform, hexapod, analytical, stiffness, eigenfrequency, telescope
in
Proceedings of the 25th Nordic seminar on computational mechanics
editor
Persson, K.; Sandberg, G. and Wallin, M.
conference name
25th Nordic Seminar on Computational Mechanics, 2012
language
English
LU publication?
no
id
5f8fd12e-bd1d-4458-9477-f3260499f338 (old id 4249967)
alternative location
http://nscm25.lth.se/fileadmin/byggnadsmekanik/NSCM25/proceedings_nscm25.pdf
date added to LUP
2014-01-20 09:31:11
date last changed
2016-06-29 09:07:40
@misc{5f8fd12e-bd1d-4458-9477-f3260499f338,
  abstract     = {An analytical stiffness and eigenfrequency model of symmetric parallel 6-6 Stewart<br/><br>
platforms (hexapods) is developed based on geometrical design variables to optimize the<br/><br>
dynamical performance. The model is based upon Lagrangean dynamics in which the Bryant<br/><br>
angles are used for the kinematics formulation. With the analytical eigenfrequency model,<br/><br>
optimum stiffness characteristics can be obtained for any industrial application with limited<br/><br>
workspace such as optical collimation systems. The actuator length-flexibility dependency is<br/><br>
also considered in the analytical model. It is proposed that to increase the actuation bandwidth<br/><br>
in six degrees of freedom, an eigenfrequency cost function can be defined and optimized.},
  author       = {Afzali Far, Behrouz and Lidström, Per and Nilsson, Kristina and Ardeberg, Arne},
  editor       = {Persson, K. and Sandberg, G. and Wallin, M.},
  keyword      = {Gough Stewart platform,hexapod,analytical,stiffness,eigenfrequency,telescope},
  language     = {eng},
  series       = {Proceedings of the 25th Nordic seminar on computational mechanics},
  title        = {Analytical Stiffness Optimization of High-Precision Hexapods for Large Optical Telescope Applications},
  year         = {2012},
}