Development of a 3-PRR Precision Tracking System with Full Closed-Loop Measurement and Control

Area of Science:

• Robotics and Mechanical Engineering
• Control Systems Engineering
• Vacuum Technology

Background:

• High tracking accuracy is crucial for parallel platforms in vacuum environments.
• Existing control systems may not meet stringent precision requirements.
• 3-PRR parallel platforms present unique control challenges.

Purpose of the Study:

• To design and implement a full closed-loop control precision tracking system for a 3-PRR parallel platform.
• To evaluate the effectiveness of different control algorithms in a vacuum environment.
• To validate the performance of laser displacement sensors and linear grating encoders for feedback control.

Main Methods:

• A 3-PRR parallel platform was designed for vacuum applications.
• A full closed-loop control system integrated laser displacement sensors and linear grating encoders.
• Feed-forward, Proportion-Integration (PI), and Radial Basis Function (RBF) neural network control algorithms were implemented and compared.

Main Results:

• All tested control algorithms (feed-forward, PI, RBF) demonstrated superior performance compared to semi-closed-loop control.
• The full closed-loop system effectively utilized laser displacement sensors and linear grating encoders for measurement and feedback.
• The system achieved high tracking accuracy, validating its design.

Conclusions:

• The designed full closed-loop control system is valid and effective for enhancing the tracking accuracy of 3-PRR parallel platforms in vacuum.
• The integration of laser displacement sensors and linear grating encoders provides a robust solution for precision measurement and control.
• Advanced control algorithms like PI and RBF neural networks offer significant improvements over traditional methods.