Active Vibration Control and Coupled Vibration Analysis of a Parallel Manipulator with Multiple Flexible Links

Abstract

This paper addresses the active vibration control and coupled vibration analysis of a planar parallel manipulator (PPM) with three flexible links. Multiple piezoelectric ceramic transducers are integrated with the flexible links to constitute the smart beam structures, and hence the vibration of the flexible link can be self-sensed and self-controlled. To prevent the spillover phenomena and improve the vibration control efficiency, the independent modal space control combined with an input shaper is developed to suppress both the structural and the residual vibration of the flexible links. The coupled vibration features between rigid and elastic motions and the interaction effects among three flexible links are theoretically analyzed based on the one-pass rigid-flexible dynamic models. Numerical simulation and experiment results show that the vibration of the three flexible links is coupled through the moving platform and the vibration suppression efficiency is getting improved with the number of controlled flexible links increased.