Liu Yanwu

On Target Positioning Parallel Robot Control

Designing and manufacturing a type of precision parallel robot for positioning, and realized 6 DOF spacial precision target positioning in micro meter scale are presented in this paper. Principle of the system is dissertated, and a high integrated and accurate control system for parallel robot is designed. All the control modules are integrated in the computer. Based on the research of the parallel robots positioning control arithmetic, the model of target positioning is deduced. A method based on vision for target positioning closed-loop control is studied. In the method, 6 DOF precision target positioning is realized by the loop adjustment of each DOF of the parallel robot on the condition of the relation between coordinate systems is not known completely. Experiments proved this robot system realized 6 DOF auto closed-loop target positioning.

Development of Precision Parallel Robot in ICF Research

In the research of ICF accurate orientation of the sensor is one key factor to guarantee target exactly. So one 6-DOF parallel robot is developed, in which Hooke articulated structure is adopted to suit the heavy-load and requirement of orientation precision. For further enhancing the orientation and repetition precision of the robot, speed of the integrated linear motor is programmed in reason with closed-loop controlling strategy. In the mean while, inverse kinematics model of the parallel robot is set up and network communication based on sever and client is developed to realize remote control of the robot. The results of experiment show that the repeated orientation-precision of the robot proposed is of 1 mum, which can fulfill the accurate adjustment on the pose of robot.