Title :
Active vibration control on A3-DOF parallel platform based on Kane’s dynamic method
Author :
Yun, Yuan ; Li, Yangmin ; Xu, Qingsong
Author_Institution :
Dept. of Electromech. Eng., Univ. of Macau, Macau
Abstract :
Nowadays many applications in precision engineering would be impossible without a careful isolation of the instrument from the vibration sources. To reduce the vibration on precision instruments, active isolation systems are urgently required, since these units can achieve a very low remaining vibration level. This paper is concerned with the development of a vibration isolation system for highly sensitive equipment applications. In this paper, a 3-DOF parallel robot with flexure hinges will be analyzed and a dynamic model will be presented intended to facilitate the design of an optimal controller. The chosen approach is the method of Thomas R and the analysis result is a state-space, analytical set of linearized equations of motion. The investigations of this paper may not only have significance in robotics research, but also make contributions to the research on active vibration isolation based on parallel manipulators.
Keywords :
control system synthesis; linearisation techniques; manipulator dynamics; motion control; optimal control; precision engineering; state-space methods; vibration control; 3-DOF parallel robot manipulator; Kanes dynamic method; active isolation system; active vibration control; flexure hinge; linearized motion equation; optimal controller design; precision engineering; precision instrument vibration control; state-space method; Attenuation; Control systems; Equations; Fasteners; Instruments; Manipulators; Parallel robots; Precision engineering; Resonance; Vibration control; Flexure hinge; Kane’s method; Parallel platform; State-space equations;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655138