Model based sliding mode control for a 3-DOF translational micro parallel positioning stage

Shunli Xiao, Yangmin Li

Research output: Journal article publicationConference articleAcademic researchpeer-review

3 Citations (Scopus)


This paper presents mechanical system dynamics modeling analysis and control of a novel compliant flexure-based micro-parallel positioning stage. The designed microparallel positioning stage consists of a mobile plate, a fixed base, and three limbs with identical kinematic structure. Certain geometric conditions are adopted to make the mobile plate with purely 3 translational degrees of freedoms. Each limb connects the mobile base to the fixed plate through a P (prismatic) joint and two U(universal) joints in sequence, where P joint is the active joint driven by a pair of novel electromagnetic actuators assembled on the fixed base. The prototype of the designed system is fabricated, dynamics model of the manipulator is constructed through Lagrange method and sliding mode controller is designed based on the dynamics model.
Original languageEnglish
Article number6907182
Pages (from-to)2333-2338
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong Convention and Exhibition Center, Hong Kong, Hong Kong
Duration: 31 May 20147 Jun 2014

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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