Self-excited Vibration Control of the Planar 3-RRR Flexible Parallel Manipulator Based on Acceleration Feedback

doi:10.3901/JME.2019.21.040

Abstract

Abstract: Planar 3-RRR flexible parallel manipulator is widely used in the precision positioning, material handling, macro-micro combination and other fields. It is easy to generate self-excited vibration when running to some areas, which greatly affects the accuracy and stability of the system. In order to effectively suppress the self-excited vibration of parallel manipulator, the measurement system of the vibration acceleration is built on the parallel manipulator experimental platform, and the closed-loop feedback and self-excited vibration active control are achieved by acceleration sensor and servo motor. The mechanism of the specific singular position of the planar 3-RRR flexible parallel manipulator is analyzed. Considering the phase lag caused by the filtering and the transmission and processing of the acceleration signal, the technique of the phase shifting is adopted and the control algorithm based on acceleration feedback is given. The active control experimental research of the self-excited vibration of planar 3-RRR flexible parallel manipulator is developed. The theoretical and experimental results show that the proposed active control method based on acceleration feedback can effectively suppress the self-excited vibration of parallel robots at singular positions.

Key words: 3-RRR, flexible parallel manipulator, self-excited, active control, acceleration feedback

CLC Number:

TP242
TB535

YU Longhuan, QIU Zhicheng, ZHANG Xianmin. Self-excited Vibration Control of the Planar 3-RRR Flexible Parallel Manipulator Based on Acceleration Feedback[J]. Journal of Mechanical Engineering, 2019, 55(21): 40-50.

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