Vibration Suppression of a High-Speed Flexible Parallel Manipulator Based on Its Inverse Dynamics

Abstract

For a novel 2-DoF flexible parallel manipulator, its kinematic and vibration control was investigated based on the inverse dynamic model by using sliding mode control. Taking into account the complexity of rigid-flexible coupling effect of the flexible manipulator, the assumed mode method and Lagrange multiplier method were applied to derive the dynamic equations of the system. It is a differential algebraic equation. In order to design conveniently the controller based on the model, the coordinate-partitioned method was used to convert the differential algebraic equations into a secondorder differential one. According to the demand of motion and vibration control, the sliding mode control method was applied to design the controller in order to obtain the desired trajectory and attenuate the elastic deformation of flexible manipulator. The numerical simulation results showed the proposed controller can eliminate the deflections of the midpoint of the flexible part and have a good trajectory track performance. Keywords-flexible parallel manipulator; sliding mode control; assumed mode method; inverse dynamic I.2011 Second International Conference on Intelligent System Design and Engineering Application 978-0-7695-4608-7/11 $26.00

The Virtual Prototype Modeling Research of a Wind Tunnel Test Platform with Member Flexibility

“…Because the simulation analysis of the process of performing wind tunnel test, disturbing force and controlling force acting on the wind tunnel test platform will provoke the oscillation of the position and orientation of the platform, and the oscillation of the platform in return aggravates the elastic vibration of flexible appendage, thus the elastic vibration of flexible appendage would affect the movement control of the platform integration. Therefore, the corresponding flexible model needs to be established in order to really reflect the actual operating conditions of the platform and achieve active vibration suppression [7,8] of the vibration of the corresponding components. Based on the establishing principle of flexible multibody systems: Small slender stiffness components are generated flexible parts.…”