Lecture
This lecture covers various precision actuators and sensors, focusing on their calibration techniques. It begins with an introduction to voice coil motors, highlighting their compact size and suitability for applications requiring precise linear motion. The instructor discusses position sensor technologies compatible with compliant mechanisms, including contactless and contact sensors. The lecture then delves into the principles of optical and magnetic encoders, explaining their measuring ranges and resolutions. The discussion continues with Linear Variable Differential Transformers (LVDTs), detailing their operation and calibration processes. The instructor emphasizes the importance of calibrating robots and mechanisms, addressing kinematics, accuracy, and environmental factors. The calibration procedure for the Kheops robot is presented, showcasing the steps taken to improve its accuracy. The lecture concludes with an overview of kinematic couplings, including Kelvin and Maxwell clamps, and their role in achieving precise positioning in mechanical systems. Overall, the lecture provides a comprehensive understanding of the technologies and methods used in high-precision applications.