Verifications of Delay Compensation for a Hybrid Motion Table*

This study considers the time delay problem of the hybrid motion table. A motion table is designed using the 3-3 parallel mechanisms to guarantee the static stiffness and dynamic performance. The time delay in the system loops is compensated to guarantee the hybrid simulation accuracy. The effects of the table parameters (sensor delay and dynamic response frequency) and the contact parameters (contact natural frequency, contact stiffness and initial velocity) on the hybrid simulation results are investigated by simulations and experiments. They show that the simulation instability can be compensated by the approach under different table parameters and contact parameters.