Design and Feedback Control of Three-axis Common Rail Parallel Robotic Arm for Performance Optimization

In view of the problems existing in traditional three-axis robotic arms, such as insufficient mechanical structure flexibility, large precision and response delay, lack of human-machine interaction safety, and poor control stability and accuracy, this paper designs a three-axis common rail parallel robotic arm. The three-axis attitude data at the end of the robotic arm was collected by using a handheld wireless teaching device. The forward kinematics equation was constructed based on the D-H parameter method and the planar intersection kinematics method, and the pose data of the robotic arm was obtained by solving the equation. By means of digital simulation experiments, the stability and accuracy of the control strategy of the robotic arm are verified by comparing the experimental data with the theoretical calculation data. Ultimately, the feedback control of the robotic arm is achieved, while ensuring its load capacity and the stability and accuracy of its movement under lightweight design.