Design of a planar-type high speed parallel mechanism positioning platform with the capability of 180 degrees orientation

In, Woosung; Lee, S.; Jeong, Jin-Yeon; Kim, J.

doi:10.1016/j.cirp.2008.03.072

Cited by 15 publications

(6 citation statements)

References 6 publications

(5 reference statements)

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“…The dynamic model of a redundantly actuated manipulator can be derived by replacing the dynamics of the normally actuated manipulator with constraint equation (9). The new dynamic model is shown in the following.…”

Section: Dynamic Modelmentioning

confidence: 99%

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Energy Saving Effect Mapping of Redundant Actuation in Workspace

et al. 2015

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This paper shows the mapping results of the energy saving effect of redundant actuation in a workspace. In redundant actuation, a system uses more actuators than the degrees of freedom (DoF). This system can distribute the actuating torques, which are concentrated on the normal system's actuators, to the redundant actuators. This distribution can reduce the overall energy loss of the actuators, which can increase the overall energy efficiency of the system. The distribution performance depends on the end-effector position of the system. A 2-DoF normal manipulator and redundant manipulator are designed to analyze the energy loss of each actuation type, depending on the end-effector position in the workspace. The mapping of the energy saving effects of the redundant manipulator is conducted by comparing the energy losses of the two types of manipulators.

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Section: Dynamic Modelmentioning

confidence: 99%

“…The electric power loss can also be reduced by using redundant actuation technology, which involves the use of more actuators than the mechanism's degrees of freedom (DoF) [7][8][9][10]. This technology can reduce the sum of the squares of the torques by distributing the torques to the overall actuators including the redundant [11,12].…”

Section: Introductionmentioning

confidence: 99%

Energy Saving Effect Mapping of Redundant Actuation in Workspace

et al. 2015

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“…Thus, several planar parallel mechanisms have also been proposed [5][6][7][8][9][10][11], but the rotational capability of these parallel mechanisms is limited. Therefore, the mechanisms are not suitable for some industrial applications such as micro-machining and PCB depaneling [12,13], where a high rotational capability is necessary to reduce process time and to apply the mechanism to various tasks. This paper presents a new planar 3-DOF mechanism capable of a continuous 360-degree rotation as well as X-Y translational motions.…”

Section: Introductionmentioning

confidence: 99%

A new planar 3-DOF parallel mechanism with continuous 360-degree rotational capability

Seo

Kim

2009

J Mech Sci Technol

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This paper presents a novel three degrees of freedom (3-DOF) planar parallel mechanism with a 360-degree rotational capability, which can be used as a positioning device. A high rotational capability is necessary to reduce process time and to apply the mechanism to various fields such as micro-machining and printed circuit board (PCB) depaneling. The proposed mechanism has the advantage of a continuous rotational capability over existing planar parallel mechanisms with limited rotation. The position and velocity kinematics are derived, and the singularities are analyzed based on the Jacobian matrices. The workspace can be determined not to have a singularity inside, and the kinematic variables for enlarging the singularity-free workspace are determined. The application example on the PCB depaneling process is proposed for future work.

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“…Kim and Chung [8] proposed a PID controller-integrated design method for a high-speed and high-accuracy servomechanism including interactions of mechanical and electrical subsystems. In et al [9] designed a PID controller for a planar-type high-speed parallel mechanism positioning platform, for which the maximum velocity is 2.5 m/s with an acceleration of 2g . High-speed nanometre positioning was realized using a hybrid linear motor, and a PID-based controller was designed to control the positioning system [10].…”

Section: Introductionmentioning

confidence: 99%

Robust and precision control for a directly-driven XY table

Wang

Xing

Zhang

et al. 2011

Proceedings of the Institution of Mechanical Engineers, Part C:

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To provide faster, more repeatable, and stronger microelectronics bonding technology, this article presents the design and implementation of a robust and precision controller for a highspeed linear voice-coil motor, direct-drive, XY positioning table. Moreover, the dynamic design methodology of the control system for the positioning table is proposed based on electromechanical co-simulation. Using the finite-element method and dynamic analysis, the rigid-flexible coupled mechanical model of the XY table is established. With the aid of the system identification approach, the open-loop model of the control system for the X -axis table is obtained. On this basis, the proportion integration differentiation controller with incomplete derivation and the sliding mode controller (SMC) with the exponential reaching law are designed to control the X -axis table. The performances of the controllers are investigated using electromechanical cosimulations and experimental tests, and the results show that the motion overshoot and settling time are reduced using the SMC with an exponential reaching law. The SMC with the exponential reaching law also shows strong robustness against external disturbances. The experiment and co-simulation results are in good agreement, which confirms the validity and feasibility of the dynamic design methodology for a high-speed and high-accuracy positioning table based on electromechanical co-simulation.

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Design of a planar-type high speed parallel mechanism positioning platform with the capability of 180 degrees orientation

Cited by 15 publications

References 6 publications

Energy Saving Effect Mapping of Redundant Actuation in Workspace

Energy Saving Effect Mapping of Redundant Actuation in Workspace

A new planar 3-DOF parallel mechanism with continuous 360-degree rotational capability

Robust and precision control for a directly-driven XY table

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