Design, modeling and advanced control of the innovative parallel manipulator PaLiDA

The innovative parallel manipulator PaLiDA is the subject of this paper. Main aspects are treated from the design and concept of the drives to the advanced control concept of the complete system. A commercial direct linear drive is integrated into newly designed struts variable in length. The system's design and the strut's arrangement are carried out basing on the optimization of the workspace and stiffness. A highly efficient approach for the calculation of the dynamics is presented. It differs from the classical one by the uniform consideration of rigid-body and friction dynamics. The implementation of the model in feedforward control with additional partial decoupling of actuator dynamics is shown. The paper is completed with experimental results that demonstrate the quality of the achieved control in the range of high-speed manipulation and machining.