Abstract
The classic multi-mode negative impulses input shapers can suppress the residual vibration of the multi-mode system effectively. But when these several frequencies bandwidths and amplitudes of vibration modes are greatly different, the time delay and the suppression performances of input shapers are decreased. However, the hybrid multi-mode negative impulses input shapers can overcome the disadvantage. The hybrid double-mode negative impulses input shapers of a 3-DOF parallel manipulator and are constructed and compared with the classic multi-mode negative impulses input shapers. And the numerical simulations are shown out, for different frequencies bandwidths and amplitudes of vibration, and the hybrid multi-mode negative impulses input shapers can increase the total suppression performance of input shaper.
Highlights
In order to improve the speed and accuracy of the system movements, the lightweight linkages of manipulators are widely used in modern equipment and machinery and aerospace fields [1,2]
The classic multi-mode input shapers can not effectively suppress the residual vibration of the multi-mode flexible systems with multiple natural frequencies and damping ratios which is for different frequencies bandwidths and amplitudes of vibration, whereas the total suppression performances of the input shaper are decreased
This paper is established the hybrid double-mode negative impulses input shapers of the 3-DOF parallel manipulator which is compared with the classic multi-mode negative impulses input shapers
Summary
In order to improve the speed and accuracy of the system movements, the lightweight linkages of manipulators are widely used in modern equipment and machinery and aerospace fields [1,2]. The classic multi-mode input shapers can not effectively suppress the residual vibration of the multi-mode flexible systems with multiple natural frequencies and damping ratios which is for different frequencies bandwidths and amplitudes of vibration, whereas the total suppression performances of the input shaper are decreased. The hybrid multi-mode negative impulses input shapers can overcome the disadvantage. The theory of hybrid multi-mode negative impulses input shapers are introduced. This paper is established the hybrid double-mode negative impulses input shapers of the 3-DOF parallel manipulator which is compared with the classic multi-mode negative impulses input shapers. The numerical simulations are carried out, for different frequencies bandwidths and amplitudes of vibration, the hybrid multi-mode negative impulses input shapers can increase the total suppression performance of input shaper
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