Sensitivity Analysis of Vibration Suppression Based on the Multiple-Mode Negative Impulses Input Shapers

2012 ◽  
Vol 189 ◽  
pp. 312-316
Author(s):  
Yue Zhan Wang ◽  
Qi Bo Yan ◽  
Bing Li ◽  
Yu Lan Wei
Keyword(s):  
Sensitivity Analysis ◽  
Numerical Simulations ◽  
Delay Time ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
System Response ◽  
Input Shaping ◽  
Residual Vibration ◽  
Multiple Mode

The structure of a 3-DOF parallel manipulator is presented. The methodologies of multiple-mode negative impulses input shaping is introduced, which can decrease the delay time of the system response while the residual vibration is suppressed. The parameters of two-mode negative impulses and positive impulses input shapers of the 3-DOF manipulator are presented. The sensitivity analysis of these input shapers are carried out through numerical simulations, and the robust of the input shapers are presented and compared.

Vibration Suppression of Manipulator with Multiple-Mode Negative

2012 ◽  
Vol 549 ◽  
pp. 816-820 ◽  
Author(s):  
Qing Huang ◽  
Dan Zhang ◽  
Bing Li ◽  
Yu Lan Wei
Keyword(s):  
Delay Time ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Dynamic Equations ◽  
System Response ◽  
Input Shaping ◽  
Structural System ◽  
Residual Vibration ◽  
Multiple Mode

The methodologies and application of multiple-mode negative impulses input shaping of a 3-DOF parallel manipulator with flexible intermediate linkages are presented in this paper. First, the structural system and the dynamic equations are expressed for a 3-DOF manipulator. Second, the multiple-mode negative impulses input shaping is introduced to reduce the residual vibration of the multiple-mode system and decrease the delay time of the system response at the same time. Finally, the theory of the multiple-mode ZV, ZVD and EI negative impulses input shapers are presented, and the two-mode negative impulses input shapers of a 3-DOF manipulator are established and compared with the positive impulses input shapers.

Hybrid Multi-Mode Input Shaping Suppresses the Vibration of a 3-DOF Parallel Manipulator

2011 ◽  
Vol 291-294 ◽  
pp. 2115-2118 ◽  
Author(s):  
Bing Li ◽  
Yu Lan Wei ◽  
Shou Xin Zhu ◽  
Yu Qing Zheng
Keyword(s):  
Time Delay ◽  
Numerical Simulations ◽  
Parallel Manipulator ◽  
Dynamic Equations ◽  
System Response ◽  
Input Shaping ◽  
Structural System ◽  
Residual Vibration ◽  
Multi Mode

The methodologies and application of hybrid multi-mode positive impulses input shaping of a 3-DOF flexible parallel manipulator in this paper. First, the structural system and the dynamic equations are expressed for a 3-DOF manipulator. Second, the hybrid multi-mode positive impulses input shaping is introduced to reduce the residual vibration of the multi-mode system or to decrease the time-delay of the system response at the same time. The theory of the hybrid multi-mode positive impulses input shapers are presented, and the hybrid two-mode positive impulses input shapers of a 3-DOF manipulator are established and compared with the classic multi-mode positive impulses input shapers. Finally, the numerical simulations are made, and the robust of the input shapers are presented and compared.

scholarly journals Vibration Suppression of a 3-DOF Parallel Manipulator Based on Hybrid Negative Impulses Multi-Mode Input Shaping

2011 ◽  
Vol 2-3 ◽  
pp. 372-377 ◽  
Author(s):  
Yan Yan Han ◽  
Bing Li ◽  
Yu Lan Wei ◽  
Shou Xin Zhu ◽  
Ying Jun Dai
Keyword(s):  
Time Delay ◽  
Numerical Simulations ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Input Shaping ◽  
Vibration Modes ◽  
Residual Vibration ◽  
Input Shaper ◽  
Multi Mode

The classic multi-mode negative impulses input shapers can suppress the residual vibration of the multi-mode system effectively. But when these several frequencies bandwidths and amplitudes of vibration modes are greatly different, the time delay and the suppression performances of input shapers are decreased. However, the hybrid multi-mode negative impulses input shapers can overcome the disadvantage. The hybrid double-mode negative impulses input shapers of a 3-DOF parallel manipulator and are constructed and compared with the classic multi-mode negative impulses input shapers. And the numerical simulations are shown out, for different frequencies bandwidths and amplitudes of vibration, and the hybrid multi-mode negative impulses input shapers can increase the total suppression performance of input shaper.

Dynamic model and input shaping control of a flexible link parallel manipulator considering the exact boundary conditions

Robotica ◽  
2014 ◽  
Vol 33 (6) ◽  
pp. 1201-1230 ◽  
Author(s):  
Quan Zhang ◽  
James K. Mills ◽  
William L. Cleghorn ◽  
Jiamei Jin ◽  
Zhijun Sun
Keyword(s):  
Boundary Conditions ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Motion Tracking ◽  
Vibration Suppression ◽  
Input Shaping ◽  
Control Analysis ◽  
Residual Vibration ◽  
Modeling And Control ◽  
Exact Boundary

SUMMARYIn this paper, a rigid–flexible planar parallel manipulator (PPM) actuated by three linear ultrasonic motors for high-accuracy positioning is proposed. Based on the extended Hamilton's principle, a rigid–flexible dynamic model of the proposed PPM is developed utilizing exact boundary conditions. To derive an appropriate low-order dynamic model for the design of the controller, the assumed modes method is employed to discretize elastic motion. Then to investigate the interaction between the rigid and elastic motions, a proportional derivative feedback controller combined with a feed-forward-computed torque controller is developed to achieve motion tracking while attenuating the residual vibration. Then the controller is extended to incorporate an input shaper for the further suppression of residual vibration of flexible linkages. Computer simulations are presented as well as experimental results to verify the proposed dynamic model and controller. The input shaping method is verified to be effective in attenuating residual vibration in a highly coupled rigid–flexible PPM. The procedure employed for dynamic modeling and control analysis provides a valuable contribution into the vibration suppression of such a PPM.

scholarly journals Quick Suppression of Vibration of Robot via Hybrid Input Shaping Control Strategy

2019 ◽  
Vol 37 (3) ◽  
pp. 636-642
Author(s):  
Yulan Wei ◽  
Bing Li ◽  
Qingzhu Zhang ◽  
Pengfei Ou
Keyword(s):  
Response Time ◽  
Control Strategy ◽  
Vibration Suppression ◽  
Response Speed ◽  
Parallel Robot ◽  
Input Shaping ◽  
Frequency Bandwidth ◽  
Residual Vibration ◽  
Response Curves ◽  
Input Shaping Control

When the vibration amplitude and resonant frequency bandwidth of each mode are different in the multiple-modal system, the response time of a system is increased but the residual vibration is effectively reduced by the positive impulses multiple-modal input shapers. However, a negative impulses hybrid multiple-modal input shaping method can solve those problems. The basic principle of this control strategy and a 3-DOF parallel robot were introduced. Six negative impulses hybrid input shapers to reduce vibration of the first two modes were constructed based on the robot. Using simulation methods, the response time and vibration suppression abilities of various negative impulses hybrid two-modal input shapers (NHTIS) were obtained by analyzing the vibration response curves of these input shapers, and comparing with positive and negative impulses two-modal input shapers, respectively. The results show that the NHTIS can improve the response speed of the system while significantly reducing the multiple-modal residual vibration.

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