Abstract
Thanks to their advantages over rigid ones, interest for lightweight parallel manipulator was increased. Besides, structural flexibility effects at high operational speeds are more significant. Thus, developing an appropriate model for the assessment of the dynamic properties of flexible mechanisms and linkages to gain effective vibration control will raise high demand. Therefore, this paper represents the dynamic and kinematic modeling using the assumed mode method and first-type Lagrange equations of the 2-DOF planar parallel manipulator with two flexible links. To truly predict vibrations of the manipulator without any major simplifying assumptions, nonlinear dynamic modeling, which thoroughly attempts to represent the flexible behavior of the links, is considered. As a result, an active damping approach is being studied with PZT actuators. The results show that this approach is effective in damping the vibrations of the links that give accurate trajectory control.
Highlights
With regard to parallel manipulators with a lightweight structure, a planar parallel manipulator with lightweight linkages provides a high-speed alternative positioning mechanism for manipulators of serial architecture. ese robots are used in a wide range of applications, from simple selection and location of robotic systems for industrial applications to microsurgical applications, maintenance of nuclear power plants, or space robotics [1]. e interest in research into flexible connection manipulators and mechanisms was significantly increased to make full use of the potential offered by flexible manipulators
Manipulators and mechanisms with flexible links are systems with a variety of degrees of freedom. ey are described by coupled nonlinear partial differential equations of motion. e dynamic model formulation of manipulators with flexible links and mechanisms was based on different discretization ways of flexible links to devise and apply a real-time controller for joint movements and vibration removal. e most popular approaches are the finite element method (FEM) [5, 6] and the assumed mode method (AMM) [7, 8]
An AMM modeling of the flexible links following Lagrangian method and a PD feedback control with linear velocity feedback (L-type) is used to correctly attenuate vibration due to trajectory tracking. is is followed by a proper PD trajectory control. e proposed active vibration damping approach was verified by simulations for flexible linkage manipulators
Summary
With regard to parallel manipulators with a lightweight structure, a planar parallel manipulator with lightweight linkages provides a high-speed alternative positioning mechanism for manipulators of serial architecture. ese robots are used in a wide range of applications, from simple selection and location of robotic systems for industrial applications to microsurgical applications, maintenance of nuclear power plants, or space robotics [1]. e interest in research into flexible connection manipulators and mechanisms was significantly increased to make full use of the potential offered by flexible manipulators. Due to the promising results, the parallel kinematic machine (PKM) is the greatest increasing need of the machining and pick and place industry Due to their high structural stiffness and rigidity, PKMs’ absolute positioning error is reduced. The heavy and bulky links used to give adequate stiffness and accuracy significantly increase equipment costs, motor torques (power), and energy consumption To overcome this issue, as a real-world requirement, research on the use of lightweight robot links is carried out in this paper. An AMM modeling of the flexible links following Lagrangian method and a PD feedback control with linear velocity feedback (L-type) is used to correctly attenuate vibration due to trajectory tracking. An AMM modeling of the flexible links following Lagrangian method and a PD feedback control with linear velocity feedback (L-type) is used to correctly attenuate vibration due to trajectory tracking. is is followed by a proper PD trajectory control. e proposed active vibration damping approach was verified by simulations for flexible linkage manipulators
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