A 6-DOF Parallel Robot for Optical Precise Operation

Abstract

In this paper, a novel 6-DOF precise parallel robot with architecture of HTRT is presented. The robot, driven by a AC servo motor, consists of a moving platform, a base platform and six identical chains connecting the two platforms. A Hooke joint, which is composed of a cross centre axle and four specific ball bearings without inner circle pivot, is used to rectify the structural backlash. Control system of the robot is introduced. Also control strategy of precise positioning is proposed in the control system. Inverse kinematic solution, Jacobin matrix, workspace, and Dexterity of the end-effector are discussed. The experiments of fiber alignment and optical assembly validate the feasibility of the parallel robot in precise operating fields.