Design of a Redundant 6-DOF Parallel Platform for Mirror Precision Pose Adjustment

Abstract

The pose control of 6-DOF parallel mechanism depends on the measurement accuracy of the position of the active driving strut, which affects the pose control accuracy of 6-DOF parallel mechanism. In order to overcome the influence of heavy load large impact force on the measurement accuracy of the active drive strut, a redundant 6-DOF parallel mechanism that separates the measurement struts from the active drive struts was proposed. The fixed platform and the moving platform are connected by six identical active drive struts and six redundant measurement struts. The active driving strut is an active motion unit used to achieve various pose movements of the parallel mechanism, and the follower redundant measurement strut is a precision measurement unit, and does not constrain any DOF of the platform. Only the follower accurately measures the distance between the upper and lower hinge points of the redundant hinges. The accurate position and pose of the 6-DOF parallel mechanism are obtained by using the forward kinematics solution. The controller is used to implement the pose closed-loop control algorithm to achieve precise pose control. The design of this redundant 6-DOF parallel mechanism improves the movement accuracy of the parallel mechanism under heavy load. It can be applied to the precision adjustment of the primary mirror or secondary mirror under heavy load in large aperture optics, and has strong engineering application value.