Vibration suppression of a 3-PRR flexible parallel manipulator using input shaping

Author

Bing Li ; Zhang, Xuping ; Mills, James K. ; Cleghorn, William L. ; Xie, Liyang

Author_Institution

Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

3539

Lastpage

3544

Abstract

This paper presents the application of input shaping to the vibration suppression of a 3-PRR parallel manipulator with flexible intermediate linkages. First, structural dynamic equations are established for the manipulator, based on the assumed mode method. Then, an input shaping command is proposed to suppress the residual vibration. The theory of the input shaping is presented. A comparison of the ZV, ZVD and EI input shaping approaches is carried out. Finally, the numerical simulations are performed, and the sensitivity curves of ZV, ZVD and EI input shapers are provided.

Keywords

flexible manipulators; manipulator dynamics; vibration control; flexible intermediate linkages; flexible parallel manipulator; input shaping command; residual vibration suppression; structural dynamic equations; Acceleration; Automation; Couplings; Equations; Manipulator dynamics; Mechatronics; Milling machines; Numerical simulation; Shape control; Vibration control; flexible manipulators; input shaping; parallel manipulators; residual vibration;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246204

Filename

5246204