Title of article
Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism
Author/Authors
Zhang,Qinghua Department of Mechatronics - Foshan University, Foshan, China , Zhang, Xianmin Key Laboratory of Precision Equipment and Manufacturing Technology of Guangdong Province, China , Wei, Junyang Key Laboratory of Precision Equipment and Manufacturing Technology of Guangdong Province, China
Pages
18
From page
1
To page
18
Abstract
An active vibration control experiment of planar 3-RRR flexible parallel robots is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT material, a general motion equation is established. A strain rate feedback controller is designed based on the established general motion equation. Four control schemes are designed in this experiment: three passive flexible links are controlled at the same time, only passive flexible link 1 is controlled, only passive flexible link 2 is controlled, and only passive flexible link 3 is controlled. The experimental results show that only one flexible link controlled scheme suppresses elastic vibration and cannot suppress the elastic vibration of the other flexible links, whereas when three passive flexible links are controlled at the same time, they are able to effectively suppress the elastic vibration of all of the flexible links. In general, the experiment verifies that a strain rate feedback controller is able to effectively suppress the elastic vibration of the flexible links of plane 3-RRR flexible parallel robots
Keywords
Experimental Study o , Active Vibration Control , Planar 3-RRR , Flexible , Parallel Robots Mechanism
Journal title
Shock and Vibration
Serial Year
2016
Full Text URL
Record number
2614893
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