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Modeling and controller design of a 6-DOF precision positioning system
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Cai, Kunhai, Tian, Yanling, Liu, Xianping, Fatikow, S., Wang, Fujun, Cui, Liangyu, Zhang, Dawei and Shirinzadeh, Bijan (2018) Modeling and controller design of a 6-DOF precision positioning system. Mechanical Systems and Signal Processing, 104 . pp. 536-555. doi:10.1016/j.ymssp.2017.11.002 ISSN 0888-3270.
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Official URL: https://doi.org/10.1016/j.ymssp.2017.11.002
Abstract
A key hurdle to meet the needs of micro/nano manipulation in some complex cases is the inadequate workspace and flexibility of the operation ends. This paper presents a 6-degree of freedom (DOF) serial-parallel precision positioning system, which consists of two compact type 3-DOF parallel mechanisms. Each parallel mechanism is driven by three piezoelectric actuators (PEAs), guided by three symmetric T-shape hinges and three elliptical flexible hinges, respectively. It can extend workspace and improve flexibility of the operation ends. The proposed system can be assembled easily, which will greatly reduce the assembly errors and improve the positioning accuracy. In addition, the kinematic and dynamic model of the 6-DOF system are established, respectively. Furthermore, in order to reduce the tracking error and improve the positioning accuracy, the Discrete-time Model Predictive Controller (DMPC) is applied as an effective control method. Meanwhile, the effectiveness of the DMCP control method is verified. Finally, the tracking experiment is performed to verify the tracking performances of the 6-DOF stage.
| 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): | Microrobots, Microtechnology, Piezoelectric devices | ||||||||||||||||||
| Journal or Publication Title: | Mechanical Systems and Signal Processing | ||||||||||||||||||
| Publisher: | Academic Press | ||||||||||||||||||
| ISSN: | 0888-3270 | ||||||||||||||||||
| Official Date: | 1 May 2018 | ||||||||||||||||||
| Dates: |
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| Volume: | 104 | ||||||||||||||||||
| Page Range: | pp. 536-555 | ||||||||||||||||||
| DOI: | 10.1016/j.ymssp.2017.11.002 | ||||||||||||||||||
| Status: | Peer Reviewed | ||||||||||||||||||
| Publication Status: | Published | ||||||||||||||||||
| Access rights to Published version: | Restricted or Subscription Access | ||||||||||||||||||
| Date of first compliant deposit: | 10 November 2017 | ||||||||||||||||||
| Date of first compliant Open Access: | 21 November 2018 | ||||||||||||||||||
| RIOXX Funder/Project Grant: |
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