TRIPLANAR-a new process-machine type developed by means of the mechatronics design

TRIPLANAR is the name for a new machine type with six degrees of freedom. It serves for highly precise processing and measurement tasks. The design principle with new parallel kinematics was proposed by Mechatronics Laboratory Paderborn. An optimal design (both hardware and software) of the system can only be achieved by applying the so-called mechatronics design method. The core of this method is the consideration of the overall system including the interactions of all components involved. Special attention is paid to the actuators of the machine. These consist of three planar hybrid steppers each serving for two directions. The drives applied, however, are converted into servo drives which allow the actuator to induce a force into the mechanical system. The modelling of the drives is explained in greater detail