Design and Control of Planar Parallel Mechanisms with High Speed and High Precision

Abstract:

In order to satisfy the requirement of advanced manufacturing equipments with high speed and high precision, two planar parallel mechanisms have been developed. Based on these mechanisms, firstly, in consideration with the velocity and the precision of the end-effector together, the dimension optimization design is performed based on conditioning index and the precision characteristics. Then a disturbance observer is designed for the purpose of restraining load disturbance in the direct-drive system, and the experimental results show that load disturbance can be effectively restrained by the disturbance observer.

• Periodical: Key Engineering Materials (Volumes 315-316)
• Pages: 872-0
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.315-316.872
• Online since: July 2006
• Authors: L.N. Sun, Y.J. Liu, J. Li, J. Cui
• Keywords: Disturbance Observer, Optimal Kinematic Design, Planar Parallel Mechanism

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