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

Abstract:

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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.

Info:

Periodical:

Advanced Materials Research (Volumes 291-294)

Edited by:

Yungang Li, Pengcheng Wang, Liqun Ai, Xiaoming Sang and Jinglong Bu

Pages:

2115-2118

DOI:

10.4028/www.scientific.net/AMR.291-294.2115

Citation:

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

Online since:

July 2011

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Price:

$35.00

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