Development of Precision Parallel Robot in ICF Research

In the research of ICF accurate orientation of the sensor is one key factor to guarantee target exactly. So one 6-DOF parallel robot is developed, in which Hooke articulated structure is adopted to suit the heavy-load and requirement of orientation precision. For further enhancing the orientation and repetition precision of the robot, speed of the integrated linear motor is programmed in reason with closed-loop controlling strategy. In the mean while, inverse kinematics model of the parallel robot is set up and network communication based on sever and client is developed to realize remote control of the robot. The results of experiment show that the repeated orientation-precision of the robot proposed is of 1 mum, which can fulfill the accurate adjustment on the pose of robot.