Design and calibration experiment of serial-parallel hybrid rotary platform with three degrees of freedom

摘要

A new hybrid rotary platform with three degrees of freedom that possesses both a large workspace and the ability to bear heavy loads is presented. The degrees of freedom and rotary characteristics of the hybrid rotary platform are analyzed, and its solution of inverse position is obtained. The dimensional optimization, structural design, and prototype development of the hybrid rotary platform were carried out, an electrical control system based on a multi-axis motion controller and a three-axis gyroscope was developed, and a calibration experiment on the hybrid rotary platform was performed. After the key kinematic parameters were calibrated, the overall accuracy of the hybrid rotary platform greatly improved.