Design of the experimental table of a parallel mechanism driven by pneumatic artificial muscles

摘要

According to the configuration evolution method, a parallel mechanism with three rotational degrees of freedom, which is driven by group of four pneumatic artificial muscles, was designed by removing two SPS branches of Stewart mechanism and adding constraint branch to constrain the three translational degrees of freedom of the moving platform. A parallel mechanism experimental table was established. The measurement device, which is constructed by three displacement sensors, is built. The pose of the moving platform obtained by the measurement subsystem is compared with the pose from theory. Therefore, the closed-loop control was obtained.