Abstract
Residual vibration suppression of a 3-DOF flexible parallel robot mechanism is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT (lead zirconium titanate) material, a general motion equation is established which includes an input equation of PZT actuators and an output equation of PZT sensors. A strain and strain rate feedback (SSRF) controller is designed based on the established general motion equation. A numerical simulation is implemented to verify the effectiveness of the SSRF controller in driving the proposed robotic mechanism. The simulation results reveal that the SSRF controller can decrease the elastic vibration displacement of the flexible links rapidly and improve the position accuracy of the moving platform. In the experimental study, one scheme with three passive flexible links is controlled by the SSRF controller at the same time as the performance of the introduced solutions. The experimental results show that the strain and strain rate feedback controller is able to effectively suppress the residual vibration of the 3-DOF flexible parallel robot mechanism. The results of the numerical simulation and experiment are completely consistent.
Highlights
Saving energy and improving industrial productivity is a consistent target around the world.During the past few decades, flexible parallel robots have been intensively studied because of their excellent performances which have the advantages of light weight, low energy consumption, dexterous operation, and so on
Studied a novel 2-DOF flexible parallel manipulator (PM) with multiple actuation modes, establishing the electromechanical coupling dynamic equation of the system and designing a hierarchical compound control strategy, in which a PD feedback controller was employed to achieve the trajectory tracking of the end-effector and a strain and strain rate feedback (SSRF) controller was developed to suppress the vibration of the flexible links using PZT
We only focus on the residual vibration that is the vibration of flexible links after
Summary
Saving energy and improving industrial productivity is a consistent target around the world. Studied a novel 2-DOF flexible parallel manipulator (PM) with multiple actuation modes, establishing the electromechanical coupling dynamic equation of the system and designing a hierarchical compound control strategy, in which a PD feedback controller was employed to achieve the trajectory tracking of the end-effector and a strain and strain rate feedback (SSRF) controller was developed to suppress the vibration of the flexible links using PZT. Zhang et al [22] designed a smooth adaptive sliding mode for suppressing the vibration of smart links which bounded multiple lead zirconium titanate (PZT) sensors and actuators on the flexible link Their experimental results verified the multi-mode vibration control ability of the smooth adaptive sliding-mode control law. Both numerical simulation and experimental studies verify that the SSRF controller can effectively suppress the elastic vibration of the flexible links
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