Self-excited vibration control of a planar 3-RRR flexible parallel robot

被引：0
|
作者：
Yang J. [1 ]
Qiu Z. [1 ]
Zhang X. [1 ]
机构：
[1] Guangdong Province Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou
来源：
Zhendong yu Chongji/Journal of Vibration and Shock | 2017年 / 36卷 / 21期
关键词：
Active control; Kinematic control; Planar flexible parallel robot; Self-excited vibration;
D O I：
10.13465/j.cnki.jvs.2017.21.021
中图分类号：
学科分类号：
摘要：
The kinematic model of a planar three degree of freedom flexible parallel robot was established, and its kinematic control was carried out. During the motion of the platform, the real-time vibration signals were sampled by using PZT sensors bonded on flexible links. to understand the vibration status of the flexible links and the main mode shapes of the platform. When a flexible link reaching the target point at a high speed, its residual vibration may convert into self-excited vibration due to the energy stored in the elastic deformation of the flexible link. On account of the nonlinear factors, such as modeling error, friction, clearance and electromechanical coupling, a nonlinear algorithm and a semi-loop feedback control were adopted in case no sensor was fixed on the end. In certain regions, by obtaining the value of the servo motor's encoder and comparing it with the desired count of pulses, the nonlinear PD algorithm implemented a same direction compensation experiment, so that the oscillation of the servo motor was controlled to suppress the self-excited vibration rapidly. © 2017, Editorial Office of Journal of Vibration and Shock. All right reserved.
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页码：138 / 143
页数：5
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