Abstract
The methodologies and application of hybrid multi-mode positive impulses input shaping of a 3-DOF flexible parallel manipulator in this paper. First, the structural system and the dynamic equations are expressed for a 3-DOF manipulator. Second, the hybrid multi-mode positive impulses input shaping is introduced to reduce the residual vibration of the multi-mode system or to decrease the time-delay of the system response at the same time. The theory of the hybrid multi-mode positive impulses input shapers are presented, and the hybrid two-mode positive impulses input shapers of a 3-DOF manipulator are established and compared with the classic multi-mode positive impulses input shapers. Finally, the numerical simulations are made, and the robust of the input shapers are presented and compared.
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