ON THE DYNAMIC MODELING AND CONTROL OF 2-DOF PLANAR PARALLEL MECHANISM WITH FLEXIBLE LINKS

被引：2
|
作者：
Luo Lei Wang Shigang Mo Jinqiu Cai Jianguo School of Mechanical Engineering
机构：
来源：
Chinese Journal of Mechanical Engineering | 2005年 / 01期
基金：
中国国家自然科学基金;
关键词：
Parallel mechanism Flexible link Dynamic modeling Singular perturbation Input shaping;
D O I：
暂无
中图分类号：
TH113.1 [机械振动学];
学科分类号：
080203 ;
摘要：
The object of study is about dynamic modeling and control for a 2 degree-of-freedom (DOF) planar parallel mechanism (PM) with flexible links. The kinematic and dynamic equations are established according to the characteristics of mixed rigid and flexible structure. By using the singular perturbation approach (SPA), the model of the mechanism can be separated into slow and fast subsystems. Based on the feedback linearization theory and input shaping technique, the large scale rigid motion controller and the flexible link vibration controller can be designed separately to achieve fast and accurate positioning of the PM.
引用
收藏
页码：112 / 117
页数：6
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