Modeling and controller design of a 6-DOF precision positioning system. (1st May 2018)

• Record Type: Journal Article
• Authors: Cai, Kunhai; Tian, Yanling; Liu, Xianping; Fatikow, Sergej; Wang, Fujun; Cui, Liangyu; Zhang, Dawei; Shirinzadeh, Bijan
• Is Part Of: Mechanical systems and signal processing. Volume 104(2018)
• Page Start: 536
• Page End: 555
• Publication Date: 2018-05-01
• Subjects: 6-DOF precision positioning system -- Modeling -- Model predictive controller -- Tracking control; Structural dynamics -- Periodicals; Vibration -- Periodicals; Constructions -- Dynamique -- Périodiques; Vibration -- Périodiques; Structural dynamics; Vibration; Periodicals; 621
• DOI: 10.1016/j.ymssp.2017.11.002
• Languages: English
• ISSNs: 0888-3270

Abstract

Highlights: Design of a 6-degree-of-freedom (DOF) precision positioning system. The kinematic and dynamic model of the 6-DOF system are established. The Discrete-time Model Predictive Controller (DMPC) is applied as an effective control method. Extensive experiments were performed to verify the good performances of the developed system. 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.