TY - JOUR
T1 - Modeling and controller design of a 6-DOF precision positioning system
AU - Cai, Kunhai
AU - Tian, Yanling
AU - Liu, Xianping
AU - Fatikow, Sergej
AU - Wang, Fujun
AU - Cui, Liangyu
AU - Zhang, Dawei
AU - Shirinzadeh, Bijan
PY - 2018/5/1
Y1 - 2018/5/1
N2 - 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.
AB - 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.
KW - 6-DOF precision positioning system
KW - Model predictive controller
KW - Modeling
KW - Tracking control
UR - http://www.scopus.com/inward/record.url?scp=85037808601&partnerID=8YFLogxK
U2 - 10.1016/j.ymssp.2017.11.002
DO - 10.1016/j.ymssp.2017.11.002
M3 - Article
AN - SCOPUS:85037808601
VL - 104
SP - 536
EP - 555
JO - Mechanical Systems and Signal Processing
JF - Mechanical Systems and Signal Processing
SN - 0888-3270
ER -