The dynamic performance of parallel robots directly determines the machining accuracy in large optical mirror processing (LOMP). However, limitations in traditional dynamic modeling methods hinder their application in real-time control, constraining further improvements in robotic precision. This paper aims to establish a high-precision and practical dynamic model that considers joint friction for parallel robots used in LOMP, and to design an efficient real-time friction compensation control strategy to effectively enhance trajectory tracking and repetitive positioning accuracy. The novelty of this work lies in proposing a dynamic modeling approach that integrates the static mechanics-based “Disassembly Method” with a “Coulomb + Viscous” friction model. First, static analysis of the mechanism is conducted using the “Disassembly Method” to accurately compute the joint constraint reactions in any pose, providing critical input for friction calculation. Subsequently, a complete dynamic model incorporating friction in joints such as Hooke joints, composite spherical hinges, and ball screws is developed based on the Newton–Euler formulation. This method overcomes the shortcomings of traditional approaches in solving joint reactions and managing model complexity. Numerical simulations demonstrate that, compared to conventional friction-neglected models, the proposed model reveals a maximum increase of approximately 350 N in driving chain joint reaction forces and significant peaks in driving forces at motion reversal instants (e.g., 0.28 s, 0.45 s), quantitatively proving that neglecting friction severely underestimates the actual system loads. Experimental validation shows that the feedforward PD friction compensator designed based on this model reduces the rotational tracking errors of the moving platform around the X- and Y-axis from 0.295° and 0.286° to 0.134° and 0.128°, respectively, achieving an error reduction of about 55% and effectively improving motion control accuracy. This study provides a reliable dynamic modeling foundation and an effective real-time control compensation solution to address force output errors and trajectory deviations caused by joint friction in high-precision LOMP.
Liu et al. (Tue,) studied this question.