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All figures (17)
Table 1. All possible cases for integrated design and control.
Fig. 2. Design for control example from [35] modifying actuator design to eliminate translational loading in voice-coil motors. (a) In disk drives, the actuator for the read/write head is a typical lorentz-force voice coil motor that produces a force at an offset. The force also excites the translational mode of the bearing. (b) A novel design for the voice coil motor, based on a magnetic array called as Hallbach array, which is commonly found in linear motors, is used in a rotary configuration to produce a unidirectional magnetic field in the hub. (c) The resulting actuator is a pure torque motor that minimizes the effect of the translational mode of the bearing.
Fig. 1. Schematic diagram showing a positioning system example. The goal is to vary the gap z over a large range of motion and control bandwidth.
Fig. 2. Design for control example from [35] modifying actuator design to eliminate translational loading in voice-coil motors. (a) In disk drives, the actuator for the read/write head is a typical lorentz-force voice coil motor that produces a force at an offset. The force also excites the translational mode of the bearing. (b) A novel design for the voice coil motor, based on a magnetic array called as Hallbach array, which is commonly found in linear motors, is used in a rotary configuration to produce a unidirectional magnetic field in the hub. (c) The resulting actuator is a pure torque motor that minimizes the effect of the translational mode of the bearing.
Fig. 10. Lumped parameter model for depicting dynamic behavior of topology concepts using flexure-based mechanisms of Fig. 5(g)-(j) as pivots in the 1-DOF positioning system.
Fig. 4. Integrated design and control methodology for meeting performance requirements.
Fig. 3. A performance-driven design library shown as constructed from building blocks prepared by performance-driven operations on a set of primitives. Novel designs synthesized with this method are schematically shown in the Design Library block.
Fig. 8. Lumped parameter model for depicting dynamic behavior of topology concepts using flexure-based mechanisms of Fig. 5(c)-(f) as pivots in the 1-DOF positioning system.
Fig. 12. Comparison of magnitude response of desired and achieved sensitivity transfer function designed with a model-matching matching procedure. A corresponding response obtained for the case of mixed-sensitivity design is also shown.
Fig. 6. Primitive beam flexure shown in (a) is enhanced in its load-capacity by adding a redundant constraint in (b) to produce a double-sided beam flexure primitive.
Fig. 7. Double-sided notched flexure primitive. This primitive is the notched equivalent of the double-sided beam flexure of Fig. 6 (b). Unlike the beam flexure, which has a distributed compliance, the notch flexure has a localized compliance at the thin necks of the notch.
Fig. 4. Integrated design and control methodology for meeting performance requirements.
Fig. 5. A library of candidate design topologies for a flexural pivot.
Fig. 3. A performance-driven design library shown as constructed from building blocks prepared by performance-driven operations on a set of primitives. Novel designs synthesized with this method are schematically shown in the Design Library block.
Fig. 1. Schematic diagram showing a positioning system example. The goal is to vary the gap z over a large range of motion and control bandwidth.
Table 2. Results of Optimization of Design and Control for the case of topologies of Fig. 5(g)(j) used as flexure-based pivot.
Fig. 11. Pole-zero plot of open-loop plant corresponding to design topologies using flexure-based mechanisms of Fig. 5(c)-(f) as pivots in the 1-DOF positioning system. The zeros of the system are on the real axis and symmetric about the imaginary axis, hence resulting in a non-minimum phase behavior.
Journal Article
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DOI
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Integrated Design and Control of Flexure-Based Nanopositioning Systems — Part I: Methodology
[...]
Vijay Shilpiekandula
,
Kamal Youcef-Toumi
01 Jan 2011
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IFAC Proceedings Volumes