5 August 2010 An alternative architecture and control strategy for hexapod positioning systems to simplify structural design and improve accuracy
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Abstract
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. This paper 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.
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Joseph H. Beno, Joseph H. Beno, John A. Booth, John A. Booth, Jason Mock, Jason Mock, } "An alternative architecture and control strategy for hexapod positioning systems to simplify structural design and improve accuracy", Proc. SPIE 7733, Ground-based and Airborne Telescopes III, 77332S (5 August 2010); doi: 10.1117/12.856760; https://doi.org/10.1117/12.856760
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