Resolution evaluation of 6-degree-of-freedom precision positioning systems: Definitions and apparatus

Vissiere, Alain; Krut, Sébastien; Roux, Thierry; Noiré, Pierre; Pierrot, François

doi:10.1016/j.measurement.2019.107375

Cited by 3 publications

(1 citation statement)

References 16 publications

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“…The position and orientation resolution of a 6-DOF parallel robot is the minimum motion increment of 6 single DOF [13], that is, three translation resolutions Δx, Δy, Δz and three rotational resolutions around the x, y and z axes ΔU, ΔV, ΔW.…”

Section: Analysis Methods Of Position and Orientation Resolutionmentioning

confidence: 99%

A Pose Resolution Analysis Method for a Stewart Parallel Robot

Liang¹,

Tan²,

Zhao³

et al. 2023

J. Phys.: Conf. Ser.

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In order to develop a high-resolution 6-DOF parallel robot, a method for analysing parallel robot’s position and orientation resolution is proposed, which is based on the same scale scaling and quantifying of struts increment. Firstly, calculating struts increment of the target position and orientation. Secondly, reducing struts increment in the same proportion. Thirdly, quantifying them with the resolution of the strut, and the minimum struts increment and struts length are obtained. Lastly, six single DOF minimum motion increments, namely pose resolution, are obtained after forward kinematic solution. The analysis software is compiled with VC++, and the 6-DOF Stewart parallel robot for the secondary mirror of a high-resolution space camera is designed. The measured results show that the analysis results of pose resolution are basically consistent with the measured values, and the analysis method has strong engineering guiding value.

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Section: Analysis Methods Of Position and Orientation Resolutionmentioning

confidence: 99%

A Pose Resolution Analysis Method for a Stewart Parallel Robot

Liang¹,

Tan²,

Zhao³

et al. 2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

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Characterization technique for high-resolution mirror repositioning hexapod mechanism for space telescopes

Agarwal,

Patel,

Mathur

et al. 2024

J. Astron. Telesc. Instrum. Syst.

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The mirror repositioning system is one critical system in large-size deployable space telescopes that aids in correcting errors in mirror orientation once deployed. Stewart mechanism is employed for reorienting the mirror due to its potential for use in highprecision applications, and a high-range and high-accuracy Stewart platform for positioning the mirror was designed using dual-resolution actuators. System characterization is crucial for understanding, optimizing, and evaluating the performance of a system. It provides insight into a system's behavior, strengths, weaknesses, and limitations, aiding in troubleshooting, design decisions, and quality assurance. Overall, it forms the foundation for ensuring the functionality, efficiency, and reliability of a system throughout its lifecycle. We discuss the techniques adopted for characterizing the mirror repositioning system and the methods employed for error reduction in the system.

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Metrology of the hexapod positioning systems for ground system equipment: recent innovations, and state of the art of reachable performances

Noiré,

Cuq,

Robert

et al. 2024

Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation VI

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This paper presents the performances of recent high-tech hexapod positioning systems. Those devices with six degrees of freedom, are commonly used in Ground System Equipment (GSE) design, to qualify and conduct, for example, optical performance test activities. They are frequently used in vacuum environments. This is the case for example for EUCLID, CHIME, PLATO missions. They are also commonly used on large scientific instruments like Telescope or synchrotrons.The latest innovations in terms of the performances, measurement technology, stability and control of those positioners are presented. The know-how the manufacturer has mastered to mature this technology and push the boundaries is on display. The characterization of the performance in terms of resolution, repeatability, accuracy, cross-coupling, backlash, and stiffness is clarified. The methods and measurement instruments used to characterize each specification are explained. Then, the most advanced performances of different hexapod positioners are described in detail. The goal of this step is to provide the current state of the art of hexapod technology and describe the most advanced system. Ongoing innovations that could push the boundaries are also featured.Finally, we present how engineers can specify their positioners to be integrated into the next generation of Ground Support Equipment (GSE). This analysis will include key parameters such as the stiffness, duty cycle, thermal management but also the control requirements.

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Resolution evaluation of 6-degree-of-freedom precision positioning systems: Definitions and apparatus

Cited by 3 publications

References 16 publications

A Pose Resolution Analysis Method for a Stewart Parallel Robot

A Pose Resolution Analysis Method for a Stewart Parallel Robot

Characterization technique for high-resolution mirror repositioning hexapod mechanism for space telescopes

Metrology of the hexapod positioning systems for ground system equipment: recent innovations, and state of the art of reachable performances

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