Analytical Stiffness Optimization of High-Precision Hexapods for Large Optical Telescope Applications
(2012) 25th Nordic Seminar on Computational Mechanics, 2012- 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:
https://lup.lub.lu.se/record/4249967
- author
- Afzali Far, Behrouz LU ; Lidström, Per LU ; Nilsson, Kristina LU and Ardeberg, Arne LU
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Gough Stewart platform, hexapod, analytical, stiffness, eigenfrequency, telescope
- host publication
- 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
- conference location
- Lund, Sweden
- conference dates
- 2012-10-25 - 2012-10-26
- 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
- 2016-04-04 13:26:01
- date last changed
- 2018-11-21 21:13:57
@inproceedings{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}},
booktitle = {{Proceedings of the 25th Nordic seminar on computational mechanics}},
editor = {{Persson, K. and Sandberg, G. and Wallin, M.}},
keywords = {{Gough Stewart platform; hexapod; analytical; stiffness; eigenfrequency; telescope}},
language = {{eng}},
title = {{Analytical Stiffness Optimization of High-Precision Hexapods for Large Optical Telescope Applications}},
url = {{http://nscm25.lth.se/fileadmin/byggnadsmekanik/NSCM25/proceedings_nscm25.pdf}},
year = {{2012}},
}