## 4 Experimental Results  
The concept design of the 5-DOF robotic system with a parallel kinematic structure is shown in Figure 7. All values related to the limbs of the proposed system are presented in Table 1.  
Figure 6: Block diagram of the sliding mode control process.  
Figure 7: The proposed system with a completed design.  
First of all, the operating performance of the designed system was evaluated. Translational and rotational motion experiments were conducted in the specified reference trajectory based on the established kinematic equation and control algorithm. The block diagram of the 5-DOF parallel 3D printer control system is shown in Figure 8. As can be seen in the figure, microprocessor coded STM32F405 RB ARM Cortex M4 168 MHz (Texas Instrument, USA) and TMC262 stepper motor drivers were used in this study. The main task of the microprocessor was to produce the appropriate PWM signals needed by the stepper motor drivers according to the kinematics and controller equations. In addition, the microprocessor could simultaneously read the encoder information connected to the motors from the digital ports and use them as feedback information. The resolution per revolution of each encoder was 4096. The angular position accuracy was 0.002 degrees thanks to the 4x quadrature feature of the microprocessor. Two-phase Nema23 stepper motors (Oriental Motor USA Corp., Torrance, CA, USA) were used in the designed system. The coil resistance of these motors was 1.4 ohm, the inductance was 2.5 mH, the holding torque was 1.45 Nm, and the acceleration torque was 1.1 Nm.  
Four distinct tests were conducted on the proposed system shown in Figure 7. The tests aimed to evaluate the system's mobility and compare the performance of the sliding mode controller with the standard PID controller. The performance of the four stepper motors in the planned system was evaluated based on the kinematic equation and control algorithms that were created. The tests assessed the translational and rotational capacities of the moveable table, which was coupled to the stepper motors, based on the specified reference. The control parameters used in all experiments for the controllers used in this study were \(K_{p}=5.135\), \(K_{i}=1.136\), \(K_{d}=0.022\), and \(\lambda=2.74\).  
\begin{table}
\begin{tabular}{c c} \hline
**Parameters** & **Values** \\ \hline \(l_{1,3,4}\) & 461 (mm) \\ \hline \(l_{2}\) & 561 (mm) \\ \hline \(c_{1,3}\) & 30 (mm) \\ \hline \(c_{2,4}\) & 0 (mm) \\ \hline \({}^{p}r_{2}\) & [0; 196; 21] (mm) \\ \hline \({}^{p}r_{4}\) & [0; 226; 21] (mm) \\ \hline \({}^{p}r_{E}\) & [0; 99; \(-50.37\)] (mm) \\ \hline \({}^{p}r_{P}\) & [0; 98.5; \(-222\)] (mm) \\ \hline \({}^{p}I_{P}\) & \begin{tabular}{c} \begin{tabular}{c} 4.5 \\ 0 \\ 0 \\ \end{tabular} & \
\begin{tabular}{c} 0 \\ 2.6 \\ \end{tabular} &
\begin{tabular}{c} 0 \\ \(-0.01\) \\ \end{tabular} & \(\times 10^{-2}\)(kg\(\cdot\)m\({}^{2}\)) \\ \hline \(m_{sd,1-4}\) & 0.64 (kg) \\ \hline \(m_{l,1,3,4}\) & 0.36 (kg) \\ \hline \(m_{l,2}\) & 0.43 (kg) \\ \hline \({}^{Li}I_{l,1,3,4}\) & diag(0.009; 6.5; 6.5) \(\times 10^{-2}\)(kg\(\cdot\)m\({}^{2}\)) \\ \hline \({}^{Li}I_{l,2}\) & diag(0.01; 11.5; 11.5) \(\times 10^{-2}\)(kg\(\cdot\)m\({}^{2}\)) \\ \hline \(m_{Con,1,3}\) & 0.25 (kg) \\ \hline \(m_{p}\) & 6.62 (kg) \\ \hline \({}^{p}b_{1}\) & [\(-53;-98.5;-25\)] (mm) \\ \hline \({}^{p}b_{2}\) & [0; 97.50; \(-4\)] (mm) \\ \hline \({}^{p}b_{3}\) & [243; \(-91;-42\)] (mm) \\ \hline \({}^{p}b_{4}\) & [29; 243; \(-42\)] (mm) \\ \hline \end{tabular}
\end{table}
Table 1: Measurement values of all the mechanical subcomponents used in the system’s design.