Design, modeling and control of a novel parallel kinematics servo gantry for high precision tracking

In this paper we present the design, modeling and control of a high-precision, two-axis servo gantry by using a novel parallel kinematics XY stage. The parallel mechanism is based on a set of linear guideways for the motion decoupling. The advantages of the proposed design lie in low inertia and symmetric dynamics. Moreover the design of the stage makes the overall actuation system well suited for high-speed contouring in an XY plane. The contact of the rolling interface of the linear guideways are modeled by linear springs, and simulated via a finite element analysis, and partially verified by experiments. Furthermore to deal with feedrate variations, a time-varying internal model-based controller is adopted for the designed actuation system to track trajectories, and the experimental results demonstrate that the proposed design and control offers a good performance for the proposed design.