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<body>
    <a href="/research.html" class="back-button">Back</a>
    <h1>Teleoperated High-precision Optics Repositioner (<b>THOR</b>)</h1>

    <div class="highlight">
        <strong>Project Overview:</strong> Development of a motorized control system for precise adjustment of optical components in kinematic mounts, replacing manual knob adjustments with computer-controlled stepper motors.
    </div>

    <div class="section">
        <h2>Background</h2>
        <p>Kinematic mounts are used in optical setups to hold and precisely adjust mirrors, lenses, and other optical components. The KS2 kinematic mount provides stable and precise adjustment of optical components through three manual adjustment knobs.</p>

        <div class="image-container">
            <div class="image-block">
                <img src="./image1.png" alt="KS2 Kinematic Mount Diagram" class="project-image">
                <p class="caption">The KS2 kinematic mount with manual adjustment knobs and a central aperture for optical components.</p>
            </div>
            <div class="image-block">
                <img src="./image2.png" alt="Manual Adjustment Demonstration" class="project-image">
                <p class="caption">Manual adjustment of a kinematic mount knob, showing the turning motion required for alignment.</p>
            </div>
        </div>
    </div>


    <div class="section">
        <h2>Design Challenge</h2>
        <p>The primary objectives for this project were:</p>
        <ul>
            <li>Replace manual adjustment with motorized control while acheiving greater precision</li>
            <li>Preserve the mount's original stability and adjustment range</li>
            <li>Create a modular design that could be easily implemented on preexisting kinematic mounts</li>
        </ul>
    </div>

    <div class="section">
        <h2>Technical Solution</h2>
        <h3>1. Component Design</h3>
        <img src="./image4.png" alt="Part A (Blue) and Part B(Pink)" class="project-image">
        <p class="caption">Two crucial 3D printed components: Part A (Blue, coupling to stepper motor) and Part B (Pink, replacement for manual knob)</p>

        <p>The solution involves two key custom-designed components:</p>
        <ul>
            <li><strong>Part A:</strong> Interfaces with the stepper motor driveshaft, allowing for precise rotational control</li>
            <li><strong>Part B:</strong> Replaces the original manual adjustment knob, maintaining the original adjustment mechanism</li>
        </ul>

        <h3>2. Mechanical Integration</h3>
        <img src="./image3.png" alt="Assembly Diagram" class="project-image">
        <p class="caption">Integration of Part B with the adjustment screw, secured by a set screw</p>

        <p>The mechanical integration involves several critical features:</p>
        <ul>
            <li>Set screws secure both components to their respective shafts</li>
            <li>A unique coupling mechanism allows rotational motion transfer while permitting necessary translational movement</li>
        </ul>

        <h3>3. Motor Mount Design</h3>
        <img src="./image7.png" alt="Kinematic Mount Adapter" class="project-image">
        <p class="caption">Custom-designed Kinematic Mount Adapter for secure stepper motor positioning</p>
        <p>A specialized adapter was designed to:</p>
        <ul>
            <li>Securely position the stepper motors</li>
            <li>Maintain precise alignment with the adjustment mechanism</li>
        </ul>
        <img src="./image8.png" alt="Kinematic Mount Adapter" class="project-image">
        <p class="caption"><b>Motorized</b> adjustment of a kinematic knob</p>
    </div>

    <div class="section">
        <h2>Final Implementation</h2>
        <img src="./image9.png" alt="Final Assembly" class="project-image">
        <p class="caption">Complete assembly showing three stepper motors integrated with the kinematic mount</p>

        <div class="highlight">
            <h3>Key Features:</h3>
            <ul>
                <li>Three independent stepper motors for control of mirror's angle</li>
                <li>Maintained original precision of the kinematic mount</li>
                <li>Computer-controlled adjustment capability</li>
                <li>Modular design allowing for easy maintenance</li>
            </ul>
        </div>
    </div>

    <div class="section">
        <h2>Control System Specifications</h2>
        <ul>
            See <a href="project3.html">THOR: Circuitboard design</a>

        </ul>
    </div>

    <div class="highlight">
        <strong>Current Stage:</strong> This is an ongoing project. As of December 2024, I've been able to almost completely assemble a test-adapter and attached it to a KS2 kinematic mount. I've recently experimentally verified that the stepper motors have adequate torque to adjust the kinmatic mount screws when controlled via Tinkerboard.    </div>
    </div>

    <div class="section">
        <h2>Applications</h2>
        <p>This motorized system enables:</p>
        <ul>
            <li>Remote adjustment of optical components in sensitive environments</li>
            <li>Automated alignment procedures</li>
            <li>Precise, repeatable adjustments for experimental setups</li>
        </ul>
    </div>

    <div class="section">
        <h2>Future Developments</h2>
        <p>Potential improvements and extensions include:</p>
        <ul>
            <li>Integration of THOR in measurement of optical derivative</li>
            <li>Development of automated alignment algorithms</li>
            <li>Design and Implementation of web-based control interface</li>
        </ul>
    </div>
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    <p>Documentation (HTML) formatted with assistance from Anthropic's <i>Claude</i>, an LLM.</p>
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