Resolution evaluation of 6-degree-of-freedom precision positioning systems: Definitions and apparatus
| Autor: | Alain Vissière, Sébastien Krut, Olivier Company, Thierry Roux, Pierre Noiré, Francois Pierrot |
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| Rok vydání: | 2020 |
| Předmět: |
Computer science
Capacitive sensing Monte Carlo method Stewart platform 02 engineering and technology Translation (geometry) 01 natural sciences law.invention Computer Science::Robotics Telescope law 0202 electrical engineering electronic engineering information engineering Computer vision Electrical and Electronic Engineering Instrumentation Hexapod business.industry Applied Mathematics System of measurement 020208 electrical & electronic engineering 010401 analytical chemistry Condensed Matter Physics 0104 chemical sciences Artificial intelligence business Rotation (mathematics) |
| Zdroj: | HAL |
| ISSN: | 0263-2241 |
| DOI: | 10.1016/j.measurement.2019.107375 |
| Popis: | Resolution is a key criterion in 6 degrees of freedom (DOF) precision positioning systems such as Gough Stewart platforms. Nevertheless, there is no consensus on the definition of resolution and its evaluation. We propose a resolution characterisation method for the 6 DOF precision positioning systems based on users' requirements (in telescope and synchrotron fields). The method is founded on two user-specific criteria: stability and increment motion length. A new measurement system based on capacitive sensor technology has been developed to assess resolution. The uncertainty of our measurement system was estimated by the Monte Carlo method. This system enables measurement of hexapod platform displacement along 6 DOF with nanometre uncertainty. We evaluated the resolution of an hexapod specifically developed for the Eastern Anatolia Observatory. The 6 DOF contactless measuring system enabled us to demonstrate an hexapod resolution of 20 nm for translation and 0.25 µrad for rotation. |
| Databáze: | OpenAIRE |
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