Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism
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 gene...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2016/4780181 |
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| _version_ | 1849414613411561472 |
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| author | Qinghua Zhang Xianmin Zhang Junyang Wei |
| author_facet | Qinghua Zhang Xianmin Zhang Junyang Wei |
| author_sort | Qinghua Zhang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-6b881d20f4ea4d4787b9ea1623485cbf |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-6b881d20f4ea4d4787b9ea1623485cbf2025-08-20T03:33:46ZengWileyShock and Vibration1070-96221875-92032016-01-01201610.1155/2016/47801814780181Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots MechanismQinghua Zhang0Xianmin Zhang1Junyang Wei2Department of Mechatronics, Foshan University, Foshan, Guangdong 528000, ChinaKey Laboratory of Precision Equipment and Manufacturing Technology of Guangdong Province, Wushan Road, Tianhe District, Guangzhou 510641, ChinaKey Laboratory of Precision Equipment and Manufacturing Technology of Guangdong Province, Wushan Road, Tianhe District, Guangzhou 510641, ChinaAn 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.http://dx.doi.org/10.1155/2016/4780181 |
| spellingShingle | Qinghua Zhang Xianmin Zhang Junyang Wei Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism Shock and Vibration |
| title | Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism |
| title_full | Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism |
| title_fullStr | Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism |
| title_full_unstemmed | Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism |
| title_short | Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism |
| title_sort | experimental study of active vibration control of planar 3 rrr flexible parallel robots mechanism |
| url | http://dx.doi.org/10.1155/2016/4780181 |
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