Design of the control system for a 6-DOF Mobile Parallel Robot with 3 subchains

In this paper, the Mobile Parallel Robot (MPR) with structural configurations of PPUU (Prismatic - Prismatic - Universal - Universal) is developed. The inverse kinematics is firstly derived and a specific control system is presented. The control system integrates the features of parallel robot and mobile robot. Five control modules are included in the control software. By using the omnidirectional wheels, the MPR could perform complex tasks such as posture self-adjusting or moving with a required posture. The experiment on the motion precision of MPR is also carried out.