UWSpace will be migrating to a new version of its software from July 29th to August 1st. UWSpace will be offline for all UW community members during this time.

Show simple item record

dc.contributor.authorOkyay, Ahmet
dc.contributor.authorErkorkmaz, Kaan
dc.contributor.authorKhamesee, Mir Behrad
dc.date.accessioned2018-10-18 16:13:17 (GMT)
dc.date.available2018-10-18 16:13:17 (GMT)
dc.descriptionThe final publication is available at Elsevier via https://dx.doi.org/10.1016/j.precisioneng.2018.01.007 © 2018. This manuscript version is made available under the CC-BY-NC-ND 4.0 license https://creativecommons.org/licenses/by-nc-nd/4.0/en
dc.description.abstractIn this paper, mechatronic design, actuator optimization and controls of a long-stroke (20 mm) linear nano-positioner are presented. The mechatronic design is described in terms of the stage's most prominent features regarding mechanical design, assembly, actuator configuration, and power supply. A novel air-bearing/bushing arrangement has been used in which the commonly employed double shaft arrangement is replaced with a single shaft supported by an air bearing from the bottom to constrain the roll motion. The assembly is greatly simplified by exploiting the self-aligning property of the air-bushings which are held in the housings by O-rings. Also, the footprint of the stage is reduced. Voice coil actuators (VCA) in moving magnet mode have been used in complementary double configuration for uniformity of force response. The performance objectives of previously optimized VCA's as standalone actuators are re-evaluated in this configuration. It is observed that while the performance objectives decrease a bit, the desirability of the design point is still retained. Controller design has been made for the current control and position control loops. Heydemann's method for the compensation of encoder quadrature detection errors is implemented. The positioning resolution of the stage as measured from the sensor output is experimentally determined to be +/-5 nm. Dynamic Error Budgeting (DEB) method has been used to analyze the contributing factors to the positioning error, and sensor broadband noise is determined to be the major contributor. The actual positioning accuracy of the stage is estimated by DEB to be 0.682 nm root-mean-square (RMS). The trajectory following accuracy is determined to be +/-15 nm. It is expected that trajectory following accuracy can substantially improve if more advanced compensation methods for encoder quadrature errors are implemented.en
dc.description.sponsorshipNatural Sciences and Engineering Research Council of Canada [RGPIN-03879]en
dc.description.sponsorshipEngage grant EGP [436910-12]en
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.subjectVoice coil actuatoren
dc.subjectTopology optimizationen
dc.subjectDynamic Error Budgetingen
dc.subjectAir bearingen
dc.subjectOptical encoderen
dc.subjectEncoder quadrature detection errorsen
dc.subjectEddy currentsen
dc.titleMechatronic design, actuator optimization, and control of a long stroke linear nano-positioneren
dcterms.bibliographicCitationOkyay, A., Erkorkmaz, K., & Khamesee, M. B. (2018). Mechatronic design, actuator optimization, and control of a long stroke linear nano-positioner. Precision Engineering, 52, 308–322. doi:10.1016/j.precisioneng.2018.01.007en
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Mechanical and Mechatronics Engineeringen

Files in this item


This item appears in the following Collection(s)

Show simple item record

Attribution-NonCommercial-NoDerivatives 4.0 International
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 International


University of Waterloo Library
200 University Avenue West
Waterloo, Ontario, Canada N2L 3G1
519 888 4883

All items in UWSpace are protected by copyright, with all rights reserved.

DSpace software

Service outages