A modified integral resonant control scheme for vibration suppression of parallel kinematic mechanisms with flexible links

Published on Apr 10, 2015
· DOI :10.1504/IJMA.2015.068453
Masih Mahmoodi5
Estimated H-index: 5
 (U of T: University of Toronto), James K. Mills39
Estimated H-index: 39
 (U of T: University of Toronto), Beno Benhabib33
Estimated H-index: 33
 (U of T: University of Toronto)
Sources
Abstract
A new modified integral resonant control (IRC) scheme is demonstrated herein for vibration suppression of the flexible links of parallel kinematic mechanisms (PKMs). Typically, the resonance frequencies and response amplitudes of the PKM links experience configuration–dependent variation within the workspace. To address these variations, a robust quantitative feedback theory (QFT) approach is utilised herein on a cantilever beam, with a variable tip mass as a proof of concept. The proposed IRC scheme is synthesised with the plant templates within the QFT environment to compare its: 1) robust stability; 2) vibration attenuation with the existing IRC schemes. It is shown that the proposed IRC scheme exhibits improved robustness, while it can maintain its vibration attenuation capability. The proposed IRC is subsequently implemented on a PKM flexible link. The simplicity of the proposed control system makes it a practical approach for vibration suppression of the PKM links, accommodating substantial configuration–dependent behaviour.
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References25
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Parallel Kinematic Mechanisms (PKMs) are well suited for high-accuracy applications. However, constraints such as end-effector rotation (i.e., platform tilt angle) and configuration-dependent stiffness often limit their usage. A new six degree-of-freedom (dof) PKM architecture based on a 3xPPRS topology that addresses these concerns is presented in this paper - specifically, the proposed PKM can achieve high (end-effector) tilt angles with enhanced stiffness. The mechanism is also compared with ...
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#1Mohammad Namavar (Aberd.: University of Aberdeen)H-Index: 2
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The performance of precision mechatronic systems is restricted by their first dominant resonant mode. Damping techniques have be employed to suppress this resonance peak and improve the performance. To increase the bandwidth of the system feed-forward techniques have been used but they can be very sensitive to modeling errors as well as loading effects. In this paper a simple frequency shifting controller is introduced and is combined with Integral Resonant Control (IRC). Using these controllers...
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Apr 9, 2010·Journal of Vibration and Control3.10
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This paper presents the experimental implementation of active vibration control applied to a moving 3-PRR parallel manipulator with three flexible links. The active vibration control is implemented using three piezoelectric (PZT) transducer pairs applied to one flexible intermediate link based on modal strain rate feedback (MSRF) control. A real-time active vibration control system is developed using two PCs with LabVIEW Real-Time. Modal analyses are conducted, and the results demonstrate that t...
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Parameter uncertainty is a key challenge in the real-time control of nanopositioners employed in scanning probe microscopy. Changes in the sample to be scanned introduces changes in system resonances, requiring instantaneous online tuning of controller parameters to ensure stable, optimal scanning performance. This paper presents a method based on the frequency-domain algebraic derivative approach for the accurate online identification of the nanopositioner's parameters. The parameter estimates ...
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Parallel kinematic mechanisms (PKM) have received particular attention due to their higher stiffness, increased payload capacity, and agility, when compared to their serial counterparts. Despite these significant advantages, however, most PKM designs, typically, yield limited workspace, problematic singularities, and configuration-dependent stiffness. In response, mechanism redundancy has emerged as an effective tool to address these and other problems. In this paper, we present an in-depth disc...
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1
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