Robot with a parallel structure

TL;DR: In this article, the position of the top table is measured using signals from six encoders attached to a telescopic rod coupling the upper and lower tables, for comparison (38) with set values.

Abstract: The robot has upper (2) and lower (1) tables, linked by six linear actuators (3-8), forming a triangulation. The robot is controlled using an inverse mathematical model of its operation, with appropriate inputs. The inputs generate set values for length of each linear actuator to achieve required position and orientation of the upper table. Each linear actuator is fitted with an encoder measuring its extension. The position of the top table is measured using signals from six encoders attached to a telescopic rod (12) coupling the upper and lower tables. These encoders give measures of each of the six degrees of freedom of the robot, for comparison (38) with set values.