AN ALTERNATIVE ARCHITECTURE AND CONTROL STRATEGY FOR HEXAPOD POSITIONING SYSTEMS TO SIMPLIFY STRUCTURAL DESIGN AND IMPROVE ACCURACY

Hexapod systems (6-legged Stewart Platforms), offer advantages in accuracy over other positioning systems and are finding applications in numerous telescopes. However, instruments with increased sophistication for modern telescopes continue to grow in size and required positioning accuracy. The paper, “An alternative architecture and control strategy for hexapod positioning systems to simplify structural design and improve accuracy,” coauthored by Joseph Beno (UTCEM), John Booth (UT McDonald Observatory), and Jason Mock (UTCEM) and presented at the SPIE Astronomical Telescopes and Instrumentation 2010, San Diego, California, 27 June-2 July 2010, details an alternative hexapod configuration and design approach, particularly focused on relatively large, high precision hexapod systems supporting high mass payloads. The new configuration improves accuracy, reduces actuator mass, simplifies design, and reduces system cost but requires modest additional control algorithm sophistication.

For more information please contact Dr. Joseph Beno.

 

Hexapod design concept that separates sensor and actuator functions

 
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