Long-stroke compliant parallel mechanisms (CPMs) are widely used in precision applications. However, stress stiffening and sensitivity to external disturbances in CPMs present challenges in the design of controller. In this paper, the nonlinear stiffness model of the stage is established which is incorporated into the dynamic model. In particular, the method of adaptive nonsingular fast terminal sliding mode control (ANFTSMC) is developed based on the dynamic model. This method addresses the problems of the system parameter uncertainty and the slow convergence of traditional sliding mode control (SMC) at the equilibrium point. The stability of the presented ANFTSMC strategy has been proved based on the Lyapunov analysis. Finally, the proposed control architecture is implemented on the designed 4-prismatic-prismatic-revolute (4-PPR) CPM. The results demonstrate that the developed method exhibits excellent tracking accuracy and robustness compared to the traditional linear sliding mode control (LSMC) and proportional-integral-derivative (PID) control.

长行程顺应性并联机构 (CPM) 广泛应用于精密应用中。然而，CPM 中的应力刚化和对外部干扰的敏感性给控制器的设计带来了挑战。本文建立了平台的非线性刚度模型，并将其纳入动力学模型中。特别是，基于动态模型开发了自适应非奇异快速终端滑模控制（ANFTSMC）方法。该方法解决了传统滑模控制（SMC）系统参数不确定性和平衡点收敛速度慢的问题。基于Lyapunov 分析证明了所提出的ANFTSMC 策略的稳定性。最后，所提出的控制架构在设计的 4 棱柱-棱柱-旋转 (4-PPR) CPM 上实现。结果表明，与传统的线性滑模控制（LSMC）和比例积分微分（PID）控制相比，所开发的方法具有出色的跟踪精度和鲁棒性。