Parallel mechanisms could be hardly used in contour tracking because of their
mechanism features. This study proposed a link-space real time contour tracking for a 3 DOF (Z、α
and β) hydraulic parallel mechanism. The essence of this approach is to convert control points of
command trajectory to link space by inverse kinematics. A real-time interpolator was created and
the multi-axis cross-coupled pre-compensation control (MCCPM) was constructed for link-space
contour tracking. It was shown that a contour-accurate trajectory tracking could be performed which
was impossible in the original Z-α-β space. Other advantages of this link-space approach were time
efficiency and the uniform tracking velocity.
Cell Contour Tracking and Data Synchronization for Real-Time, High-Accuracy Micropipette Aspiration
