Abstract
To accomplish a task of optical precision adjustment, a 6-DOF precise parallel robot with architecture of HTRT is presented, which is driven by AC servo motors. Its architecture characteristics confirm that the parallel robot has a high precision positioning. Inverse kinematic solution and workspace are discussed. The parallel control system adopts the closed loop position control method based on ISA bus. The experimental results show that the robot has a bigger workspace, high resolution and high positioning accuracy, which validates design rationality of architecture and control system. Finally, optical precision assembly is accomplished successfully by the parallel robot.
| Original language | English |
|---|---|
| Pages (from-to) | 521-524 |
| Number of pages | 4 |
| Journal | Chinese Journal of Sensors and Actuators |
| Volume | 21 |
| Issue number | 3 |
| State | Published - Mar 2008 |
Keywords
- Control
- Inverse kinematic solution
- Parallel robot
- Precision adjustment
- Workspace
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