Design of high speed planar parallel manipulator and multiple simultaneous specification control

This paper presents a planar parallel mechanism which can achieve very rapid motion due to the low inertia of its moving parts and the use of multiple simultaneous specification (MSS) control. The proposed parallel manipulator was designed based on a prismatic-revolute-revolute kinematic structure. The proximal prismatic joints were realized using a linear slider with a ball screw mechanism. All actuators remain stationary resulting in a reduction of the inertia of moving parts. Since coupling terms between multiple chains of the parallel manipulator were significant, the MSS control scheme was implemented to satisfy multiple conflicting closed-loop performance specifications. Simulation and experimental results show that the proposed planar parallel manipulator yields better dynamic performance than a conventional X-Y table and has great potential in application to high speed assembly.