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Two Optimized Hexapod Leg Designs with Improved Hysteresis for a Hybrid Testing Application
Wikkerink, M.T. (2025) Two Optimized Hexapod Leg Designs with Improved Hysteresis for a Hybrid Testing Application.
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| Abstract: | In precision applications, hysteresis often results in significant performance limitations. In this paper, two hexapod leg designs with minimized hysteresis are presented. The research is used to determine a suitable design direction for a next-generation hybrid testing setup for offshore floating windturbines. Two actuator layouts are considered: an arc-based design including flexures, and a linear design utilizing air bearings. To address the dominant contribution of moving power cables induced hysteresis, cables are partially replaced with deterministic compliant elements. A two-linkage cable guide is developed and moving-coil configurations are implemented. This enables the use of ironless core actuators, which result in low hysteresis and cogging-free operation, while still meeting the tight requirements on the moving mass, actuation forces, and hysteresis. Experimental validation shows a maximum hysteresis of 0.0083 Nm for the arc design and 0.037 N for the linear design, corresponding to 0.0233% and 0.0319% of their respective continuous torque or force ratings. Compared to a hexapod with iron core actuators (the T-Flex), the arc and linear designs reduce the hysteresis to 3.4% and 4.7%, respectively. With this achievement, the performancelimitations byhysteresis are effectively eliminated, as the hysteresis will no longer be the critical factor in the current designs. The findings presented in this paper demonstrate significant progress in improving hexapod precision and provide a foundation for future development of hybrid testing platforms for offshore renewable energy systems. |
| Item Type: | Essay (Master) |
| Faculty: | ET: Engineering Technology |
| Subject: | 52 mechanical engineering |
| Programme: | Mechanical Engineering MSc (60439) |
| Link to this item: | https://purl.utwente.nl/essays/107014 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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