Control and determination of the kinematic model position of planar parallel mechanism

Abstract

The mechanisms of parallel structure are the subject of many publications due to specific functional properties of these objects, such as load capacity and accuracy This paper offers a solution for the determination of the position and planar parallel two degrees mechanism control. Two problems are solved: the problem of the position of the mechanism and the problem of transition by the executive link of the mechanism through a special position and calculated the motor forces to pass through a special position. There was a proposed and tested control algorithm that offered an example of controlling. The solution for the accuracy position determination for a planar parallel mechanism with two degrees of freedom was offered.