Residual vibration suppression test for a planar parallel robot with high-speed

被引：0

作者：

机构：

[1] School of Mechanical Engineering, Shandong University of Technology, Zibo

[2] Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou

来源：

Zhang, Xian-Min | 1600年 / Chinese Vibration Engineering Society卷 / 33期

关键词：

Input shaping; Parallel robot; Residual vibration;

D O I：

10.13465/j.cnki.jvs.2014.24.027

中图分类号：

学科分类号：

摘要：

A test for residual vibration suppression of a parallel robot was done based on input shaping control. Firstly, the kinematics of the planar parallel mechanism was analyzed and the dynamic model of the mechanism was constructed. Then, a PD controller was designed for each input shaft, a dynamic model of the whole system including all PD controllers was built. Lastly, input shapers for zero vibration (ZV) and zero vibration derivative (ZVD) of signle mode and for zero vibration-zero vibration derivative (ZV-ZVD) of two-mode, respectively were designed. A test system for a parallel robot was set up. The test results showed that the input shapers can be used to suppress the residual oscillation and the ZV-ZVD shaper is more effective. ©, 2014, Chinese Vibration Engineering Society. All right reserved.

引用

页码：164 / 168

页数：4