Modeling and Control Analysis of a 3-PUPU Dual Compliant Parallel Manipulator for Micro Positioning and Active Vibration Isolation

2011 ◽  
Vol 134 (2) ◽  
Author(s):  
Y. Yun ◽  
Y. Li
Keyword(s):  
Vibration Control ◽  
Parallel Manipulator ◽  
Vibration Isolation ◽  
Active Vibration Control ◽  
Parallel Robots ◽  
Control Analysis ◽  
Isolation System ◽  
Wide Range ◽  
Active Vibration ◽  
Active Vibration Isolation

In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level, especially for the very low frequency under 10 Hz vibration signals. This paper presents a 3-PUPU dual parallel manipulator for both rough positioning and active vibration isolation in a wide-range workspace based on our previous research experiences in the systematical modeling and study of parallel robots. The manipulator is designed as a kind of macro/micro hybrid robot. Both the kinematics model for macro motion and dynamics model for micro motion are established by using stiffness equation and the Kane’s method, respectively. An active vibration control strategy is described by using the H2 method. Moreover, numerical simulations on the inverse solution for macro motion, workspace, and the active vibration control effects are performed at the end of this paper.

Active Vibration Isolation System Using the Piezoelectric Unimorph With Mechanically Pre-Stressed Substrate

2010 ◽  
Author(s):  
Dae-Oen Lee ◽  
Lae-Hyong Kang ◽  
Jae-Hung Han
Keyword(s):  
Vibration Control ◽  
Vibration Isolation ◽  
Load Capacity ◽  
Active Vibration Control ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Before And After ◽  
Active Vibration ◽  
Piezoelectric Unimorph ◽  
Active Vibration Isolation

In this paper, a pre-stressed piezoelectric unimorph made by a new fabrication method in room temperature, and an active vibration isolation system using the pre-stressed unimorph actuators are introduced. The fabricated piezoelectric unimorph, called PUMPS (piezoelectric unimorph with mechanically pre-stressed substrate), is an actuator in which actuation level is enhanced by displacement amplification mechanism that converts piezoelectric extension and contraction to large bending/pumping motion without sacrificing the actuation force. Preliminary vibration tests were performed to check the performance of PUMPS as actuators for active vibration control in a lab environment. Two feedback control schemes, the positive position feedback (PPF) and negative velocity feedback (NVF), were applied for active vibration control. Using a smart vibration isolation system with improved load capacity obtained by stacking pre-stressed piezoelectric unimorph actuators, about 10dB vibration reduction of the system was achieved near the resonant frequency region. With the preliminary vibration test results showing promising performance of PUMPS actuator in active vibration control, an integrated active vibration isolation system composed of PUMPS actuators is developed. The developed system contains compact analogue circuits and a sensor for PUMPS actuation and control, and power is supplied by Li-Polymer battery which means the system is completely standalone and portable. In addition, an integrated jitter isolation demonstration system was developed to demonstrate the degrading effect of jitter and the effectiveness of the developed integrated active vibration isolation system in improving the performance of optical payloads. Comparison of image qualities taken before and after the operation of vibration control system indicates that effective suppression of vibration disturbances can be achieved using the developed vibration isolation system with PUMPS actuators.

scholarly journals Active Vibration Control of Launch Vehicle on Satellite Using Piezoelectric Stack Actuator

2018 ◽  
Author(s):  
Mehran Makhtoumi
Keyword(s):  
Vibration Control ◽  
Vibration Suppression ◽  
Virtual Work ◽  
Active Vibration Control ◽  
High Strength ◽  
Launch Vehicle ◽  
Design Parameters ◽  
Control Analysis ◽  
Active Vibration ◽  
Piezoelectric Stack Actuator

Satellites are subject to various severe vibration during different phases of flight. The concept of satellite smart adapter is proposed in this study to achieve active vibration control of launch vehicle on satellite. The satellite smart adapter has 18 active struts in which the middle section of each strut is made of piezoelectric stack actuator. Comprehensive conceptual design of the satellite smart adapter is presented to indicate the design parameters, requirements and philosophy applied which are based on the reliability and durability criterions to ensure successful functionality of the proposed system. The coupled electromechanical virtual work equation for the piezoelectric stack actuator in each active strut is drived by applying D'Alembert's principle. Modal analysis is performed to characterize the inherent properties of the smart adapter and extraction of a mathematical model of the system. Active vibration control analysis was conducted using fuzzy logic control with triangular membership functions and acceleration feedback. The control results conclude that the proposed satellite smart adapter configuration which benefits from piezoelectric stack actuator as elements of its 18 active struts has high strength and shows excellent robustness and effectiveness in vibration suppression of launch vehicle on satellite.

Sign in / Sign up

Export Citation Format

Share Document