Kinematics and Dynamics Analysis of Planar 3-RRR Parallel Robots

Zhang, Qing; Zhang, Xian Min

doi:10.4028/www.scientific.net/amm.229-231.582

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Kinematic Analysis Of 3-rrr Parallel Robot1

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2018

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“…From Zhang and Zhang (2012), one knows that the kinematic model for the 3- R RR parallel robot has been established. For the purpose of analysis, one attaches a Cartesian frame XY to the fixed base with its origin located at center O of the triangle A1B1C1.…”

Section: Kinematic Analysis Of 3-rrr Parallel Robotmentioning

confidence: 99%

Self-excited Vibration Control of the Flexible Planar Parallel 3-RRR Robot

Qiu

Yang

Zhang

2018

Journal of Vibration and Control

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A self-excited vibration active control approach for a 3-RRR flexible planar parallel robot is developed to improve accuracy and stability. The 3-RRR parallel flexible robot experimental setup is constructed. From the motion experiments, it is demonstrated that the residual vibration can be converted to self-excited vibration at a high-speed motion, which will affect the stability and positioning precision of the platform. To suppress the self-excited vibration owing to flexibility, friction, backlash, coupling, and other nonlinear factors, a nonlinear controller and a fuzzy control algorithm are designed to attenuate the self-excited vibration. Experiments are conducted in different positions of the 3-RRR flexible parallel robot. The experimental results demonstrate that the investigated control methods can suppress the self-excited vibration effectively.

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