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Research on Parallel Kinematics and Micro-Drive Platform Based on 3-PRP in a Flat

Zhang Cheng

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Abstract

Analyze the institutions,degree of freedom,kinematic and dynamics on parallel kinematics and micro-drive platform based on 3-PRP in a flat,built the kinematic and dynamics model,and analyze the controllability and observability to the platform in accordance with mathematical models.The platform is controlled completely in theory,and provides theory base for a correct choice of the plane with platform design structure and parameter,and for the implementation of the control of platform.

About this research paper

What this paper is about

Analyze the institutions,degree of freedom,kinematic and dynamics on parallel kinematics and micro-drive platform based on 3-PRP in a flat,built the kinematic and dynamics model,and analyze the controllability and observability to the platform in accordance with mathematical models.The platform is controlled completely in theory,and provides theory base for a correct choice of the plane with platform design structure and parameter,and for the implementation of the control of platform.

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Available abstract

Analyze the institutions,degree of freedom,kinematic and dynamics on parallel kinematics and micro-drive platform based on 3-PRP in a flat,built the kinematic and dynamics model,and analyze the controllability and observability to the platform in accordance with mathematical models.The platform is controlled completely in theory,and provides theory base for a correct choice of the plane with platform design structure and parameter,and for the implementation of the control of platform.

Key concepts: Kinematics, Observability, Controllability, Control theory (sociology), Base (topology), Computer science, Control engineering, Engineering

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