Actuator equipped with at least one cylinder and an angle sensor and associated method.

Abstract

The invention relates to an actuator (14), in particular a linear actuator, in particular for a nacelle of an aircraft, comprising at least: a cylinder, an angle sensor (16), and a conversion mechanism (18), capable of mechanically connecting the cylinder to the angle sensor (16) and of ensuring a conversion of a translational movement of the cylinder into a rotational movement transmitted to the angle sensor (16), the angle sensor (16) comprising a rotating part (20), capable of being driven by the rotational movement, in particular free to rotate about an axis of rotation of the rotational movement transmitted to the angle sensor (16), such that the angle sensor (16) is configured to carry out a continuous angle measurement throughout the translational movement of the cylinder. Figure for abstract: Fig 2

Description

Title of the invention: Actuator provided with at least one cylinder and an angle sensor and associated method. Technical field

[0001] The invention relates to an actuator provided with at least one cylinder and an angle sensor.

[0002] In particular, the invention makes it possible to match a position of the jack with an angle measurement, in particular so as to calibrate a movement of the jack when installing the jack on a machine.

[0003] An application of the invention relates, in particular, to an electric actuator, in particular an electric actuator equipping a nacelle of an aircraft. Previous techniques

[0004] An aircraft nacelle comprises several electric actuators respectively equipped with jacks. The movements of the jacks control a movement of mobile elements of the nacelle.

[0005] The actuators of the nacelle must be synchronized, for example during the opening and / or closing phases of the nacelle, so that the moving elements of the nacelle perform a desired movement and / or so that certain actuators do not exert a parasitic force on the moving elements of the nacelle, which would be likely in particular to damage the nacelle.

[0006] When installing a new actuator on the nacelle, for example during the manufacture of the nacelle or during a maintenance operation, the movement of the new actuator is not immediately coordinated with the movement of the other actuators of the nacelle.

[0007] One way to synchronize the movement of the new actuator is to have it pre-calibrated by an actuator supplier. However, such a solution requires delivery tooling configured to maintain a setting of the new actuator during its transport. In addition, in the event of improper handling by an operator responsible for installing the new actuator on the nacelle, it is necessary to return the actuator to the supplier in order to re-calibrate it.

[0008] Another way to synchronize the movement of the new actuator is to adjust its movement once the actuator is installed on the nacelle.

[0009] [Fig.l] schematically represents such an actuator 2. The actuator 2 comprises an angle sensor 4 with two stops, a torque limiter 6, a spring 8, a reducer 10 and a ball screw 12.

[0010] One objective of the adjustment is to make a stop of the angle sensor 4 coincide with a stop of a cylinder 13 of the actuator 2.

[0011] The angle sensor 4 is, for example, an active electrical rotational displacement sensor, also known by the acronym RVDT for “Rotary Variable Differential Transformer” in English terms.

[0012] The angle sensor 4 has an angular displacement range of 65 degrees, corresponding to the angular movement of the angle sensor 4 between the two stops of the angle sensor 4. The cylinder 13 performs a stroke of 515 mm.

[0013] The jack 13 is mechanically connected to the reducer 10 by the ball screw 12 converting the linear movement of the jack 13 into a rotational movement transmitted to the reducer 10.

[0014] The ball screw 12 has a screw pitch of 6.35 mm and therefore makes 81 turns during the complete stroke of the cylinder 13.

[0015] The reducer 10 has a reduction factor of 448 in order to match the stroke of the cylinder 13 to the angular displacement range of 65 degrees.

[0016] The spring 8 is placed between the reducer 10 and the torque limiter 6 in order to compensate for any assembly play between the reducer 10 and the torque limiter 6.

[0017] The torque limiter 6 is mechanically connected to the angle sensor 4. The torque limiter 6 makes it possible to make the stops of the stroke of the cylinder 13 and the stops of the angle sensor 4 coincide.

[0018] The reducer 10 transmits a reduced rotational movement to the torque limiter 6, the rotational movement being reduced by the reduction factor.

[0019] The torque limiter 6 is chosen to transmit a reduced rotational movement to the angle sensor 4 so that the torque limiter 6 stops transmitting the rotational movement to the angle sensor 4 when the angle sensor 4 is in a stop position. The reducer 10 then continues to receive the reduced rotational movement but no longer transmits it.

[0020] Thus, when the cylinder 13 reaches the end of its stroke, the angle sensor 4 is also at its stop. In this case, a stop of the angle sensor 4 coincides with a stop of the cylinder 13.

[0021] If the reduction ratio of the reducer 10 is correct, the stroke of the cylinder 13 corresponds to the angular displacement range of the angle sensor 4. The movement of the actuator 2 is then synchronized with the movement of the angle sensor 4. It is therefore possible to correctly control the movement of the cylinder 13 of the actuator 2 from the angle measurements of the angle sensor 4, in particular to synchronize the movements of the cylinders 13 of the nacelle.

[0022] The disadvantages of such a solution are numerous. Indeed, it requires a reduction ratio making it possible to make the stroke of the jack 13 coincide with the angular displacement range of the angle sensor 4.

[0023] Thus, in the example of [Fig.l], 1% of the stroke of the cylinder 13 is represented by 1% of the angular displacement range of the angle sensor 4, i.e. 0.65 degrees. The level of precision required by this solution is very high, because it is relative to low angular values.

[0024] Furthermore, an actuator 2 of an aircraft nacelle is subjected to a harsh environment, in particular to vibrations and high temperatures. The torque limiter 6 subjected to such a harsh environment generates numerous errors concerning the position of the cylinder 13.

[0025] Finally, the actuator according to the embodiment example of [Fig.l] is complex to implement. Statement of the invention

[0026] The present invention therefore aims to overcome all or part of the aforementioned drawbacks and allows precise measurement of an angle representative of a movement of a jack.

[0027] The present invention relates to an actuator, in particular a linear actuator, in particular for a nacelle of an aircraft, comprising at least - one jack, - an angle sensor, and - a conversion mechanism, capable of mechanically connecting the cylinder to the angle sensor and ensuring a conversion of a translational movement of the cylinder into a rotational movement transmitted to the angle sensor.

[0028] In addition, the angle sensor is likely to comprise a rotating part, capable of being driven by the rotational movement, in particular free to rotate about an axis of the rotational movement of the rotational movement transmitted to the angle sensor, so that the angle sensor is configured to perform a continuous angle measurement throughout the translational movement of the jack.

[0029] In particular, the angle sensor, being without stop, allows continuous measurement of the movement of the cylinder and therefore better control of the movement of the cylinder.

[0030] Advantageously, the rotating part comprises a rotor, in particular provided with a primary winding, configured to be traversed by a primary voltage, in particular a sinusoidal voltage.

[0031] Furthermore, the angle sensor comprises a stator radially surrounding the rotor, in particular the stator being provided with secondary windings, configured to be traversed by an induced current having an amplitude proportional to the primary voltage and to an angle of the rotating part.

[0032] In a complementary manner, the actuator may comprise a calculator comprising a correspondence table between angle measurements obtained by the angle sensor. and cylinder positions.

[0033] According to one embodiment, the computer is configured to determine a current position of the cylinder as a function of the current angle measurement measured by the angle sensor and the correspondence table.

[0034] Furthermore, the conversion mechanism may comprise a play-compensating device, in particular capable of compensating for assembly play in the conversion mechanism.

[0035] In addition, the conversion mechanism may include a reducer positioned between the cylinder and the angle sensor. The reducer is configured to match a stroke of the actuator cylinder to an angular displacement range of the rotating part.

[0036] Finally, a reduction ratio of the reducer may be such that the angular displacement range is less than 360 degrees when the cylinder travels its full stroke, the angular displacement range preferably being between 300 degrees and 360 degrees, when the cylinder travels its full stroke.

[0037] Thus, the angle sensor is capable of measuring an angular displacement with a measuring range of 360 degrees without a stop. In addition, the angle sensor is configured to perform a continuous angle measurement throughout the translational movement of the cylinder.

[0038] In addition, the actuator may include an offset correction with a “modulo 360 degree” addition. Thus, the invention makes it possible to carry out an angle measurement “modulo 360 degrees”.

[0039] The present invention also relates to a method for calibrating a cylinder of an actuator, in particular as defined previously, comprising at least: - a step of movement to the initial stop, during which a movement of the cylinder is carried out to a first stop position of the cylinder; - an initial association step, during which an association of the first stop position is carried out with an angle measurement indicated by an angle sensor, when the cylinder is in the first stop position; and - a setting step, during which a setting angle measurement is recorded by the angle sensor, when the cylinder is in the first stop position.

[0040] Advantageously, the calibration method can also comprise at least: - a step of moving to the final stop, during which the jack is moved to a second stop position of the jack; - a final association step, during which an association of the second stop position is carried out with an angle measurement indicated by the angle sensor, when the cylinder is in the second stop position; and - a calculation step, during which intermediate positions of the cylinder are calculated based on intermediate angle values ​​from the angle sensor.

[0041] Preferably, the calibration method may also comprise at least: - an installation step, during which the actuator is installed on a machine comprising a second actuator whose movement is previously known, and - a coordination step, during which the movement of the actuator is coordinated with the movement of the second actuator. Brief description of the drawings

[0042] Other objectives, characteristics and advantages of the invention will appear on reading the following description, given solely by way of non-limiting example, and made with reference to the appended drawings in which:

[0043] [Fig. 1], which has already been mentioned previously, schematically illustrates an actuator according to the prior art;

[0044] [Fig.2] illustrates a schematic sectional view of an actuator according to the invention; and

[0045] [Fig.3] schematically illustrates steps of a method for calibrating a position of a cylinder of an actuator on an angle measurement according to the invention. Detailed description of at least one embodiment

[0046] [Fig.2] represents a schematic sectional view of an actuator 14 provided with a jack, not shown.

[0047] The cylinder performs a linear movement between two cylinder stop positions. A cylinder stroke defines the movement of the cylinder from one cylinder stop position to the other cylinder stop position.

[0048] The actuator 14 is, for example, electric and is capable of equipping a nacelle of a turbojet of an aircraft.

[0049] Alternatively, the actuator 14 can equip, for example, the wings of an aircraft or an air intake of an aircraft engine.

[0050] The nacelle comprises, for example, a movable cowl. During opening and closing phases of the nacelle, the movable cowl is moved between a deployed position and a retracted position. Moving the movable cowl toward the deployed position opens, for example in the nacelle, a passage intended for a flow of gases ejected by the turbojet engine so as to brake the aircraft during a braking phase. Moving the movable cowl toward the retracted position closes the passage intended for the flow of gases ejected during normal operation of the turbojet engine or when the aircraft is stationary.

[0051] The actuator 14 is, for example, configured to withstand high temperatures and / or pressure variations and / or vibrations corresponding to an installation of the actuator 14 on an aircraft. The cylinder may, for example, be a hydraulic cylinder or a servo-cylinder.

[0052] The actuator 14 comprises, among other things, an angle sensor 16 and a conversion mechanism 18.

[0053] The conversion mechanism 18 mechanically connects the cylinder to the angle sensor 16. For this purpose, the conversion mechanism 18 may comprise, for example, a ball screw.

[0054] The conversion mechanism 18 ensures a conversion of a translational movement into a rotational movement. Thus, the conversion mechanism 18 converts the translational movement of the cylinder into a rotational movement transmitted to the angle sensor 16. For this purpose, the angle sensor 16 is capable of obtaining angle measurements.

[0055] The angle sensor 16 comprises a rotating part 20 receiving the rotational movement so as to be driven in rotation. The rotating part 20 is free to rotate about an axis of rotation of the rotational movement transmitted to the angle sensor 16.

[0056] Furthermore, the rotating part 20 does not include a stop when it is rotated about the axis of rotation. Thus, the rotating part 20 is capable of performing a rotational movement over more than 360 degrees.

[0057] The angle sensor 16 comprises, for example, an electromagnetic transducer configured to convert a change in angle of a rotor 22 into an electrical value.

[0058] The angle sensor 16 comprises, for example, a resolver, in particular an electrotechnical resolver. The resolver is, for example, a speed resolver comprising the rotor 22 and a stator 24 radially surrounding the rotor 22.

[0059] The rotor 22 may consist of a stack of magnetic sheets and a primary winding in the form of a winding of a copper wire. The primary winding of the rotor 22 is configured to be traversed by a primary voltage, in particular a sinusoidal primary voltage.

[0060] The stator 24 may consist of a magnetic mass and several secondary windings, for example two in number according to the example in [Fig.2].

[0061] The secondary windings are spatially spaced, for example the windings are radially offset by an angle of 90 degrees.

[0062] The secondary windings are each configured to be traversed by an induced voltage.

[0063] Furthermore, the flow of a current in the primary winding of the rotor 22 induces a current in the secondary windings. The induced current is proportional to an angle of the rotor 22.

[0064] The angle of the rotor 22 corresponds, for example, to a characteristic angle of the rotational movement of the rotor 22. The angle of the rotor 22 is measured relative to a fixed direction.

[0065] An amplitude of the current induced in the secondary windings is proportional to the angle of the rotor 22.

[0066] For example, the magnitude of the current induced in one secondary winding is proportional to the cosine of the rotor angle 22 and the magnitude of the current induced in the other secondary winding is proportional to the sine of the rotor angle 22.

[0067] Digital processing then makes it possible to return to the angle of the rotor 22 with very high precision.

[0068] In another embodiment, the angle sensor 16 comprises a multi-speed resolver, capable in particular of measuring the angle of the rotor 22 more precisely.

[0069] The angle sensor 16 is configured to measure an angle proportional to the movement of the actuator cylinder 14.

[0070] Since the rotating part 20 does not have a stop on its rotational movement, the angle sensor 16 is able to measure an angle regardless of the position and stroke of the jack.

[0071] Furthermore, such an architecture does not need a torque limiter, such as the torque limiter 6 of the actuator 2 according to the prior art presented in [Fig.l], because there is no need to match a stop of the cylinder with a stop of the angle sensor 16.

[0072] Furthermore, the invention allows the mass of the actuator 14 to be reduced compared to an actuator 2 known from the prior art.

[0073] Advantageously, the angle sensor 16 has a measuring range of more than 360 degrees, in particular with continuous information, when the rotating part 20 makes several revolutions. Thus, the measurement of the angle sensor 16 is not disturbed when the rotating part 20 completes a first revolution and begins a second revolution.

[0074] Thus configured, the angle sensor 16 being capable of measuring an angular displacement with a measurement range of 360 degrees without stop and of carrying out a continuous angle measurement throughout the translation movement of the jack, it is thus possible to carry out an angle measurement “modulo 360 degrees”.

[0075] The actuator 14 may comprise a reducer 26. Preferably, the reducer 26 is placed between the cylinder and the angle sensor 16. Such a configuration makes it possible to modify the angular displacement range of the rotating part 20 corresponding to the movement of the cylinder traveling its complete stroke. More particularly, the reducer 26 is configured to make the stroke of the cylinder of the actuator 14 coincide with a range of angular displacement of the rotating part 20.

[0076] For example, the reducer 26 is capable of reducing the number of revolutions made by the rotating part 20 during the complete stroke of the jack.

[0077] Advantageously, the reduction ratio of the reducer 26 is such that the rotating part 20 rotates through an angle of less than 360 degrees, when the jack travels its full stroke, in particular during the movement of the jack from one stop of the jack to the other.

[0078] Preferably, the reduction ratio of the reducer 26 is such that the rotating part 20 rotates through an angle of between 300 degrees and 360 degrees, when the cylinder travels its full stroke, in particular during the movement of the cylinder from one cylinder stop to the other.

[0079] However, the angle sensor 16 being without stop and configured to carry out a continuous angle measurement throughout the translational movement of the jack, it is possible to measure an angular displacement with a “modulo 360 degrees” measurement range.

[0080] The choice of the reduction ratio makes it possible to increase the measurement accuracy of the angle sensor 16. Nevertheless, the choice of the reduction ratio of the reducer 26 is not critical and numerous reduction ratios can be used for a given actuator according to the invention.

[0081] For example, if the angular displacement range of the angle sensor 16 is 300 degrees, 1% of the stroke of the cylinder is represented by 1% of the angular stroke of the angle sensor 16, or 3 degrees. The accuracy of the angle sensor 16 of the actuator 14 is therefore significantly increased compared to the actuators known from the prior art.

[0082] In one embodiment, the conversion mechanism 18 comprises a play-compensating device, not shown. The play-compensating device may comprise, for example, a spring compensating for assembly play of the conversion mechanism 18.

[0083] Thus, the play-compensating device makes it possible, for example, to ensure the repeatability of the angle measurements by reducing a play present at the conversion mechanism 18. The play-compensating device therefore makes it possible to increase the precision of the measurements.

[0084] In addition, the play-compensating device can also make it possible, for example, to reduce the assembly play of the reducer 26.

[0085] As a result, the play-compensating device makes it possible, for example, to increase the movement conversion efficiency of the conversion mechanism 18.

[0086] Advantageously, the actuator 14 comprises a computer, not shown. The computer of the actuator 14 may comprise a correspondence table between the angle measurements of the angle sensor 16 and the positions of the jack. The computer is then able to allow, for example, a recording, for each position of the jack, of the angle measurement corresponding to this position. Thus, the computer makes it possible to establish the correspondence table between the angle measurements of the angle sensor 16 and the cylinder positions.

[0087] In a complementary manner, the computer may comprise, for example, an engine regulation computer, intended to provide electronic protection of the aircraft engines and to reduce a pilot load or an electronic power converter providing the control functions of an electric thrust reverser system of a nacelle of an aircraft.

[0088] Preferably, the computer is configured to determine the current position of the cylinder as a function of the current angle value measured by the angle sensor 16.

[0089] For this purpose, the computer searches, for example, in the previously recorded correspondence table, the position of the jack corresponding to the current angle value.

[0090] In one embodiment, the angle sensor 16 can be chosen with a measuring range of 360 degrees without stop and a continuous angle measurement throughout the translational movement of the cylinder. Consequently, if the stroke of the actuator 14 covers an angle less than 360 degrees, it is possible to carry out a correction, in particular a software correction, of the offset with a “modulo 360 degrees” addition.

[0091] [Fig. 3] schematically represents the different stages of a method 28 for calibrating a position of a cylinder of an actuator 14.

[0092] During an installation step 30, the actuator 14 is installed on a machine, for example on an aircraft nacelle.

[0093] The machine is likely to comprise, for example, a second actuator provided with a second cylinder. In particular, the movement of the new actuator 14 is not calibrated and its movement is not coordinated with the movement of the second actuator. The movement of the second actuator is, for example, already calibrated and known.

[0094] To coordinate the movement of the new actuator 14 and the second actuator, during a step of moving to the initial stop 32, a movement of the cylinder of the actuator 14 is carried out. During the step of moving to the initial stop 32, the operator places the machine in a first stop position. The first stop position of the machine is such that the new actuator 14 and the second actuator are also in a stop position.

[0095] Then, during an initial association step 34, an association of the first stop position with an angle measurement is carried out. During the association step 34, the angle measurement indicated by the angle sensor 16 is recorded, for example by the operator. Advantageously, the initial association step 34 comprises or constitutes an initial recording step, during which the computer records an angle value corresponding to the first stop position of the cylinder.

[0096] Subsequently, during a calibration step 36, the angle measurement taken is defined as a calibration angle. The calibration angle corresponds to the first stop position of the new actuator 14 installed on the machine. Advantageously, the calibration angle is recorded by the computer of the actuator 14.

[0097] In one embodiment, the reduction ratio of the reducer 26 is such that the angular displacement range of the angle sensor 16 is less than 360 degrees, for example 300 degrees. When the cylinder is in the first stop position of the cylinder, the computer records the setting angle and associates it with the first stop position of the new actuator 14. During a subsequent final stop displacement step 38, the cylinder of the actuator 14 is moved, in particular slowly, so as to position the cylinder in its second stop position.

[0098] Then, advantageously, during a final association step 40, the second stop position is associated with an angle measurement indicated by the angle sensor 16, when the cylinder is in the second stop position. In particular, the computer records an angle value corresponding to the second stop position of the cylinder.

[0099] Subsequently, during a calculation step 42, intermediate positions of the cylinder are calculated as a function of intermediate angle values ​​of the angle sensor 16. In particular, the computer, having recorded the angle values ​​of the angle sensor 16 for the two stop positions of the cylinder of the actuator 14, calculates, by interpolation, the angle values ​​corresponding to the intermediate positions of the cylinder.

[0100] For example, the computer calculates the position of the cylinder as a percentage of cylinder displacement. The current position of the cylinder as a percentage is, for example, equal to the difference between a current angle value of the angle sensor 16 and the angle value corresponding to the first stop of the cylinder, all divided by the angular displacement travel of the angle sensor 16 when the cylinder travels its full travel.

[0101] Finally, during a coordination step 44, the movement of the new actuator 14 and the second actuator is coordinated.

[0102] The movement of the new actuator 14 being now known, the operator is able to control the jacks of the machine precisely and simultaneously.

[0103] Advantageously, the calculator is configured and duly programmed to carry out the installation step 30, the initial stop displacement step 32, the initial association step 34, the calibration step 36, the final stop displacement step 38, the final recording step 40, the calculation step 42 and / or the coordination step 44.

[0104] Thus, when the installation step 30 of the actuator 14 is carried out, the computer is capable of carrying out an opening and closing cycle of the machine corresponding to the movement of the jacks of the machine from one stop position to another.

[0105] During this opening and closing cycle, the computer is able to create the correspondence table between the angle measurements and the positions of the cylinder, so that the movement of the new actuator 14 is calibrated.

[0106] Furthermore, the movement of the new actuator 14 is coordinated with the movement of the second actuator. The installation of a new actuator 14 on a machine is thus facilitated.

Claims

Claims

1. Actuator (14), in particular linear actuator, in particular for a nacelle of an aircraft, comprising at least: - a cylinder, - an angle sensor (16), and - a conversion mechanism (18), capable of mechanically connecting the cylinder to the angle sensor (16) and of ensuring a conversion of a translational movement of the cylinder into a rotational movement transmitted to the angle sensor (16), characterized in that the angle sensor (16) comprises a rotating part (20), capable of being driven by the rotational movement, in particular free to rotate about an axis of rotation of the rotational movement transmitted to the angle sensor (16), so that the angle sensor (16) is configured to carry out a continuous angle measurement throughout the translational movement of the cylinder, the conversion mechanism (18) comprising a reducer (26) placed between the cylinder and the angle sensor (16),in particular configured to make a stroke of the actuator cylinder (14) coincide with a range of angular displacement of the rotating part (20), a reduction ratio of the reducer (26) being such that the range of angular displacement of the rotating part (20) is less than 360 degrees, when the cylinder travels its complete stroke.,

2. Actuator (14) according to claim 1, characterized in that the rotating part (20) comprises a rotor (22), in particular provided with a primary winding, configured to be traversed by a primary voltage, in particular a sinusoidal voltage, and in that the angle sensor (16) comprises a stator (24) radially surrounding the rotor (22), in particular the stator (24) being provided with secondary windings, configured to be traversed by an induced current having an amplitude proportional to the primary voltage and to an angle of the rotating part (20).

3. Actuator (14) according to one of claims 1 and 2, characterized in that it comprises a calculator comprising a correspondence table between angle measurements obtained by the angle sensor (16) and positions of the cylinder.

4. Actuator (14) according to claim 3, characterized in that the cal- actuator is configured to determine a current position of the cylinder based on the current angle measurement measured by the angle sensor (16) and the correspondence table.

5. Actuator (14) according to any one of the preceding claims, characterized in that the conversion mechanism (18) comprises a play-compensating device, in particular capable of compensating for assembly play of the conversion mechanism (18).

6. Actuator (14) according to any one of the preceding claims, characterized in that the angular displacement range is between 300 degrees and 360 degrees, when the cylinder travels its full stroke.

7. Actuator (14) according to any one of the preceding claims, characterized in that it comprises a correction of the offset with a “modulo 360 degrees” addition.

8. Method for calibrating (18) a cylinder of an actuator (14) according to any one of claims 1 to 7, characterized in that it comprises at least: - an initial stop displacement step (32), during which a displacement of the cylinder is carried out to a first stop position of the cylinder; - an initial association step (34), during which an association of the first stop position is carried out with an angle measurement indicated by an angle sensor (16), when the cylinder is in the first stop position; and - a setting step (36), during which a setting angle measurement is recorded by the angle sensor (16), when the cylinder is in the first stop position.

9. Calibration method (18) according to claim 8, characterized in that it comprises at least: - a final stop displacement step (38), during which the cylinder is moved to a second stop position of the cylinder; - a final association step (40), during which an association of the second stop position is carried out with an angle measurement indicated by the angle sensor (16), when the cylinder is in the second stop position; and - a calculation step (42), during which intermediate positions of the cylinder are calculated as a function of intermediate angle values ​​of the angle sensor (16).

10. Calibration method (18) according to claim 9, characterized in that it comprises at least: - a correction of the offset with a “modulo 360 degrees” addition.

11. Calibration method (18) according to any one of claims 8 to 10, characterized in that it comprises at least: - an installation step (30), during which the actuator (14) is installed on a machine comprising a second actuator whose movement is previously known; and - a coordination step (44), during which the movement of the actuator (14) is coordinated with the movement of the second actuator.

Images