Hybrid Multi-Mode Input Shaping Suppresses the Vibration of a 3-DOF Parallel Manipulator
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.
Yungang Li, Pengcheng Wang, Liqun Ai, Xiaoming Sang and Jinglong Bu
B. Li et al., "Hybrid Multi-Mode Input Shaping Suppresses the Vibration of a 3-DOF Parallel Manipulator", Advanced Materials Research, Vols. 291-294, pp. 2115-2118, 2011