关键词: 并联机构, 残余振动, 输入整形

Abstract: Residual vibration limits the use of parallel mechanisms for high-speed and high-precision operations. Residual vibration must be reduced. Parallel mechanisms using a planar parallel mechanism with two degrees of freedom are presented as an example. The kinematics of the planar parallel mechanism is analyzed by vector method. Based on the kinematics, the linear and angular accelerations of the moving platform and links are derived, respectively. Then virtual work principle is employed to deal with the dynamics of the parallel mechanism. To minimize the effect of the dynamics of the motor to the dy-namics of the parallel mechanism, each real axis is controlled by a PD(proportional-derivative) controller, respectively. These PD controllers are included in the dynamic system of the paral-lel mechanism. According to the natural frequency and damping ratio of dynamics system obtained by experiment, a ZV shaper is designed. The step move of the parallel mechanism is simu-lated, and the results show that input shaping can reduce the residual vibration of the parallel mechanism. The control method can be applied to various kinds of parallel mechanisms.

Key words: Input shaping, Parallel mechanism, Residual vibration