Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism
Joint Authors
Zhang, Qinghua
Zhang, Xianmin
Wei, Junyang
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-11-24
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Zhang, Qinghua& Zhang, Xianmin& Wei, Junyang. 2016. Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism. Shock and Vibration،Vol. 2016, no. 2016, pp.1-17.
https://search.emarefa.net/detail/BIM-1119197
Modern Language Association (MLA)
Zhang, Qinghua…[et al.]. Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism. Shock and Vibration No. 2016 (2016), pp.1-17.
https://search.emarefa.net/detail/BIM-1119197
American Medical Association (AMA)
Zhang, Qinghua& Zhang, Xianmin& Wei, Junyang. Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism. Shock and Vibration. 2016. Vol. 2016, no. 2016, pp.1-17.
https://search.emarefa.net/detail/BIM-1119197
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1119197