MULTI-MODE VIBRATION CONTROL AND POSITION ERROR ANALYSIS OF PARALLEL MANIPULATOR WITH MULTIPLE FLEXIBLE LINKS

作者：Zhang Xuping^*; Mills James K; Cleghorn William L

来源：Transactions of the Canadian Society for Mechanical Engineering, 2010, 34(2): 197-213.

• parallel flexible manipulator
• independent modal space control
• modal filter
• smart structure
• multi-mode vibration control

This paper presents multi-mode vibration control and analysis of moving platform position errors of a planar 3-PRR parallel manipulator with three flexible intermediate links using PZT transducers. The active vibration controller is designed in modal space with modal filters and modal synthesizers determined from the flexible link vibration characteristics. Estimation of the moving platform position error is conducted using measurements of the flexible link deflection from PZT sensors mounted on the flexible intermediate links. An effective strategy for determining the control gains to reduce the vibrations of higher order modes is proposed through modification of the independent modal space control (IMSC) method. The proposed independent modal control strategy is experimentally implemented with first two modes targeted for control on a parallel manipulator with multiple flexible links. The experimental results show that the vibrations of the first two modes are effectively suppressed, and the position error of the moving platform is substantially reduced.

• 出版日期2010