抄録
A planar-type tripod parallel mechanism has a larger motion space and greater tilt angles. The tripod parallel mechanism for a motion base has three legs translating on the ground. A scale model of the tripod parallel mechanism with planar actuators is designed and fabricated. The planar actuation is performed by two-axis Sawyer-type linear motors with open loop control, free to move above the ground on aerostatic bearings. A posicast control scheme for the three planar actuators is applied to improve a step response behavior. The experimental results show that the control algorithm has good positioning performance.
