Abstract：A kinematic model of a planar three degree of freedom flexible parallel robot is established, and its kinematic control is carried out. During the motion of the platform, the real-time sample of vibration by using PZT sensors bonded on flexible links is conducted. Then, the vibration situation of the flexible links and the main mode shapes of the platform are obtained. When running to the target point at a high speed, residual vibration may convert into self-excited vibration due to the energy stored in the elastic deformation of the flexible links. On account of the nonlinear factors, such as modeling error, friction, clearance, electromechanical coupling, a nonlinear algorithm and semi-loop feedback control are adopted in case no sensor is fixed on the end. On certain regions, by obtaining the value of the servo motor’s encoder and comparing to the desired counts of pulse, the nonlinear PD algorithm is used to control the vibration via same direction compensation experiment. Thus, the oscillation of the servo motor is controlled to suppress the self-excited vibration rapidly.
杨杰，邱志成，张宪民. 3-RRR柔性平面并联机器人自激振动控制[J]. 振动与冲击, 2017, 36(21): 138-143.
Yang Jie Qiu Zhi-cheng Zhang Xian-min. Self-excited Vibration Control of the Planar 3-RRR Flexible Parallel Robot. JOURNAL OF VIBRATION AND SHOCK, 2017, 36(21): 138-143.
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