Self-excited Vibration Control of the Flexible Planar Parallel 3-RRR Robot

Author:

Qiu Zhi-cheng1,Yang Jie1,Zhang Xian-min1ORCID

Affiliation:

1. Guangdong Province Key Laboratory of Precision and Manufacturing Technology, South China University of Technology, PR China

Abstract

A self-excited vibration active control approach for a 3-RRR flexible planar parallel robot is developed to improve accuracy and stability. The 3-RRR parallel flexible robot experimental setup is constructed. From the motion experiments, it is demonstrated that the residual vibration can be converted to self-excited vibration at a high-speed motion, which will affect the stability and positioning precision of the platform. To suppress the self-excited vibration owing to flexibility, friction, backlash, coupling, and other nonlinear factors, a nonlinear controller and a fuzzy control algorithm are designed to attenuate the self-excited vibration. Experiments are conducted in different positions of the 3-RRR flexible parallel robot. The experimental results demonstrate that the investigated control methods can suppress the self-excited vibration effectively.

Funder

National Natural Science Foundation of China

the Natural Science Foundation of Guangdong Province

Publisher

SAGE Publications

Subject

Mechanical Engineering,Mechanics of Materials,Aerospace Engineering,Automotive Engineering,General Materials Science

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