Link Space Control for Parallel Machines with Consideration of Dynamics

J.-h. Chin and G.-W. Huang (Taiwan)

Keywords

Link space, parallel machine, trajectory tracking, contour precision, crosscoupled

Abstract

Parallel machines have features of high rigidity, high speed and compact structure. But in order to take advantages of these features in manufacturing the parallel machines need to be equipped with the ability of continuous trajectory tracking and sensors monitoring spatial coordinates along the trajectory. In this study a strategy of link space tracking control is investigated and the cross-coupled tracking with dynamic consideration are constructed for link-space contour tracking for parallel machine. The algorithms are evaluated by the model of a prototype 3_PRU parallel machine. Investigations show 30% improvement in the contour precision by cross coupled compensation in link space tracking. The proposed link space cross-coupled tracking scheme has the merit of being a non-expensive contour tracking technique.

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