Volume 45 Issue 9
Oct.  2016
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Wang Shixiang, Guo Jin, Gan Xinji, Wang Tingfeng. Dynamic analysis and control of mini three degree-of-freedom robot applied in laser focusing[J]. Infrared and Laser Engineering, 2016, 45(9): 918003-0918003(9). doi: 10.3788/IRLA201645.0918003
Citation: Wang Shixiang, Guo Jin, Gan Xinji, Wang Tingfeng. Dynamic analysis and control of mini three degree-of-freedom robot applied in laser focusing[J]. Infrared and Laser Engineering, 2016, 45(9): 918003-0918003(9). doi: 10.3788/IRLA201645.0918003
shu

Dynamic analysis and control of mini three degree-of-freedom robot applied in laser focusing

doi: 10.3788/IRLA201645.0918003
  • 1.

    State Key Laboratory of Laser Interaction with Matter Changchun,Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;

  • 2.

    University of Chinese Academy of Sciences,Beijing 100049,China;

  • 3.

    School of mechanical engineering,Beihua University,Changchun 132021,China

  • Received Date: 2016-01-12
  • Rev Recd Date: 2016-02-17
  • Publish Date: 2016-09-25
  • A 3-DOF parallel 3-PRS mechanism, which could realize one translational and two rotational motions as well as support secondary mirror used in laser beam focusing, was proposed. According to the analysis of motion mode, traditional Euler angle for describing the motion of moving platform was adopted, and based on that, kinematic model of a 3-DOF mini mechanism was built to analyze its inverse kinematics performance. The inverse dynamics modeling with principle of virtual work was derived by introducing a mass distribution factor of link legs. Based upon the established model, two control systems were implemented on the mini 3-PRS parallel manipulator. Then, control accuracy of the robot was obtained by combining ADAMS/Control with MATLAB/Simulink. Moreover, the quality of laser speckle was evaluated by applying the mini 3-PRS robots into an actual optical system. The derived results prove that a mini 3-DOF mechanism can fulfill the design requirements of the structure for supporting secondary mirror.
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    [2] Dumlu A, Erenturk K. Trajectory tracking control for a 3-DOF parallel manipulator using fractional-order control[J]. Industrial Electronics, IEEE Transactions on, 2014, 61(7):3417-3426.
    [3] Wu G, Caro S, Bai S, et al. Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator[J]. Robotics Autonomous Systems, 2014, 62(10):1377-1386.
    [4] Huang Peng, Wang Liping, Guan Liwen, et al. Kinematic performance and accuracy analysis of new type 3-DOF parallel mechanism[J]. Chinese Journal of Mechanical Engineering, 2010, 46(15):1-7. (in Chinese)黄鹏, 王立平, 关立文, 等. 新型3自由度并联机构运动性能及精度分析[J]. 机械工程学报, 2010, 46(15):1-7.
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Dynamic analysis and control of mini three degree-of-freedom robot applied in laser focusing

doi: 10.3788/IRLA201645.0918003
  • 1. State Key Laboratory of Laser Interaction with Matter Changchun,Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;
  • 2. University of Chinese Academy of Sciences,Beijing 100049,China;
  • 3. School of mechanical engineering,Beihua University,Changchun 132021,China
  • Received Date: 2016-01-12
  • Rev Recd Date: 2016-02-17
  • Publish Date: 2016-09-25

Abstract: A 3-DOF parallel 3-PRS mechanism, which could realize one translational and two rotational motions as well as support secondary mirror used in laser beam focusing, was proposed. According to the analysis of motion mode, traditional Euler angle for describing the motion of moving platform was adopted, and based on that, kinematic model of a 3-DOF mini mechanism was built to analyze its inverse kinematics performance. The inverse dynamics modeling with principle of virtual work was derived by introducing a mass distribution factor of link legs. Based upon the established model, two control systems were implemented on the mini 3-PRS parallel manipulator. Then, control accuracy of the robot was obtained by combining ADAMS/Control with MATLAB/Simulink. Moreover, the quality of laser speckle was evaluated by applying the mini 3-PRS robots into an actual optical system. The derived results prove that a mini 3-DOF mechanism can fulfill the design requirements of the structure for supporting secondary mirror.

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