Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism
Residual vibration suppression of a 3-DOF flexible parallel robot mechanism is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT (lead zirconium titanate) material, a general motion equation is established which includes an input equation of PZT actuators and...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/18/12/4145 |
| _version_ | 1798003721264693248 |
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| author | Qinghua Zhang Qinghua Lu Xianmin Zhang Junjun Wu |
| author_facet | Qinghua Zhang Qinghua Lu Xianmin Zhang Junjun Wu |
| author_sort | Qinghua Zhang |
| collection | DOAJ |
| description | Residual vibration suppression of a 3-DOF flexible parallel robot mechanism is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT (lead zirconium titanate) material, a general motion equation is established which includes an input equation of PZT actuators and an output equation of PZT sensors. A strain and strain rate feedback (SSRF) controller is designed based on the established general motion equation. A numerical simulation is implemented to verify the effectiveness of the SSRF controller in driving the proposed robotic mechanism. The simulation results reveal that the SSRF controller can decrease the elastic vibration displacement of the flexible links rapidly and improve the position accuracy of the moving platform. In the experimental study, one scheme with three passive flexible links is controlled by the SSRF controller at the same time as the performance of the introduced solutions. The experimental results show that the strain and strain rate feedback controller is able to effectively suppress the residual vibration of the 3-DOF flexible parallel robot mechanism. The results of the numerical simulation and experiment are completely consistent. |
| first_indexed | 2024-04-11T12:12:19Z |
| format | Article |
| id | doaj.art-e38aa117d2a3454286dda6aef9b520b3 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T12:12:19Z |
| publishDate | 2018-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-e38aa117d2a3454286dda6aef9b520b32022-12-22T04:24:34ZengMDPI AGSensors1424-82202018-11-011812414510.3390/s18124145s18124145Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot MechanismQinghua Zhang0Qinghua Lu1Xianmin Zhang2Junjun Wu3Department of Mechatronics, Foshan University, Foshan 528000, ChinaDepartment of Mechatronics, Foshan University, Foshan 528000, ChinaKey Laboratory of Precision Equipment and Manufacturing Technology of Guangdong Province, South China University of Technology, Guangzhou 510641, ChinaDepartment of Mechatronics, Foshan University, Foshan 528000, ChinaResidual vibration suppression of a 3-DOF flexible parallel robot mechanism is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT (lead zirconium titanate) material, a general motion equation is established which includes an input equation of PZT actuators and an output equation of PZT sensors. A strain and strain rate feedback (SSRF) controller is designed based on the established general motion equation. A numerical simulation is implemented to verify the effectiveness of the SSRF controller in driving the proposed robotic mechanism. The simulation results reveal that the SSRF controller can decrease the elastic vibration displacement of the flexible links rapidly and improve the position accuracy of the moving platform. In the experimental study, one scheme with three passive flexible links is controlled by the SSRF controller at the same time as the performance of the introduced solutions. The experimental results show that the strain and strain rate feedback controller is able to effectively suppress the residual vibration of the 3-DOF flexible parallel robot mechanism. The results of the numerical simulation and experiment are completely consistent.https://www.mdpi.com/1424-8220/18/12/4145residual vibration controlflexible parallel robot mechanismstrain and strain rate feedbackexperimental study |
| spellingShingle | Qinghua Zhang Qinghua Lu Xianmin Zhang Junjun Wu Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism Sensors residual vibration control flexible parallel robot mechanism strain and strain rate feedback experimental study |
| title | Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism |
| title_full | Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism |
| title_fullStr | Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism |
| title_full_unstemmed | Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism |
| title_short | Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism |
| title_sort | study on residual vibration suppress of a 3 dof flexible parallel robot mechanism |
| topic | residual vibration control flexible parallel robot mechanism strain and strain rate feedback experimental study |
| url | https://www.mdpi.com/1424-8220/18/12/4145 |
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