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Design and control of a 6-degree-of-freedom precision positioning system
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Cai, Kunhai, Tian, Yanling, Wang, Fujun, Zhang, Dawei, Liu, Xianping and Shirinzadeh, Bijan (2017) Design and control of a 6-degree-of-freedom precision positioning system. Robotics and Computer-Integrated Manufacturing, 44 . pp. 77-96. doi:10.1016/j.rcim.2016.08.005 ISSN 0736-5845.
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Official URL: http://dx.doi.org/10.1016/j.rcim.2016.08.005
Abstract
This paper presents the design and test of a6-degree-of-freedom (DOF) precision positioning system, which is assembledby two different 3-DOF precision positioning stages each driven by three piezoelectric actuators (PEAs). Based on the precision PEAs and flexure hinge mechanisms, high precision motion is obtained.The design methodology and kinematic characteristics of the6-DOF positioning system areinvestigated. According to an effective kinematic model, the transformation matrices are obtained, which is used to predict the relationship between the output displacement from the system arrangement and the amountof PEAsexpansion. In addition, the static and dynamic characteristics of the 6-DOF system have been evaluated by finite element method (FEM) simulation andexperiments. The design structure provides a high dynamic bandwidth withthe first naturalfrequency of 586.3 Hz.Decoupling control is proposed to solve the existing coupling motion of the 6-DOF system. Meanwhile, in order to compensate for the hysteresis of PEAs, the inverse Bouc-Wen model was applied as a feedforward hysteresis compensator in the feedforward/feedback hybrid control method. Finally, extensive experiments were performed to verify the tracking performance of the developed mechanism.
Item Type: | Journal Article | ||||||||||
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Subjects: | T Technology > TJ Mechanical engineering and machinery | ||||||||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||||
Library of Congress Subject Headings (LCSH): | Robotics, Machinery, Kinematics of | ||||||||||
Journal or Publication Title: | Robotics and Computer-Integrated Manufacturing | ||||||||||
Publisher: | Elsevier | ||||||||||
ISSN: | 0736-5845 | ||||||||||
Official Date: | April 2017 | ||||||||||
Dates: |
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Volume: | 44 | ||||||||||
Page Range: | pp. 77-96 | ||||||||||
DOI: | 10.1016/j.rcim.2016.08.005 | ||||||||||
Status: | Peer Reviewed | ||||||||||
Publication Status: | Published | ||||||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||||||
Date of first compliant deposit: | 7 September 2016 | ||||||||||
Date of first compliant Open Access: | 17 August 2017 | ||||||||||
Funder: | Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC) | ||||||||||
Grant number: | 51175372, 51275337, 51205279, 51420105007, NCET-11-0374, 13JCQNJC04100 |
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