Self-excited Vibration Control of the Flexible Planar Parallel 3-<u>R</u>RR Robot

Qiu, Zhi-cheng; Yang, Jie; Zhang, Xianmin

doi:10.1177/1077546318778630

Cited by 9 publications

(9 citation statements)

References 14 publications

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“…Therefore, the self-excited vibration control of the manipulator can be regarded as applying an acceleration feedback and position feedback to a single-input-singleoutput (SISO) system. According to Qiu et al (2018), a nonlinear controller is required to control the large and the small amplitude self-excited vibration effectively. In addition, the model-based control is complex and difficult for this coupled, nonlinear, and uncertain mechanical system.…”

Section: Self-excited Vibration Controlmentioning

confidence: 99%

“…Further, working mode conversion method was proposed to avoid the manipulator entering the region where self-excited vibration occurs (Liu et al, 2017). To carry out active vibration control, Qiu et al (2018) adopted two nonlinear control algorithms to reduce the self-excited vibration of a flexible planar 3-RRR, where the servo motor was used to provide sufficient torque output. However, there exists the position error after the vibration is instantly attenuated, which can be observed from position readings of three encoders.…”

Section: Introductionmentioning

confidence: 99%

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Radial basis function neural network vibration control of a flexible planar parallel manipulator based on acceleration feedback

Qiu

Zhang

2020

Journal of Vibration and Control

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The self-excited vibration of flexible planar 3-RRR parallel manipulators is converted from the residual vibration after high-speed motion and is a resonance of the strongly coupled and nonlinear electromechanical system. This makes the active vibration control quite a challenging task. In this study, we attempt to adopt the radial basis function neural network control algorithm based on acceleration feedback for suppressing the self-excited vibration and guarantee its position accuracy. The stability of the controlled system is proved by the Lyapunov concept. Self-excited vibration control experiments are conducted near the singular region. Experimental results demonstrate the effectiveness of our adopted controller.

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Section: Self-excited Vibration Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Radial basis function neural network vibration control of a flexible planar parallel manipulator based on acceleration feedback

Qiu

Zhang

2020

Journal of Vibration and Control

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“…However, the results of vibration suppression are not ideal in the high-speed motion environment of highly coupled flexible parallel robots or space robots. Feedback control methods often require adding piezoelectric sensors and piezoelectric actuators to the structure, which can not only suppress the vibration, but also measure the vibration of a distributed parameter system [25], [36]- [40]. Zhang et al [41] designed a strain and strain rate feedback (SSRF) controller and established a general motion equation, including sensors.…”

Section: Introductionmentioning

confidence: 99%

Research on the Residual Vibration Suppression of a Controllable Mechanism Robot

et al. 2022

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The motors and reducers of traditional industrial robots are installed at the joints, which leads to large moment of inertia and difficult to effectively improve the dynamic performance of the robots. In particular, the residual vibration at the end of the robots will significantly reduce its working efficiency and fatigue life. Therefore, this paper proposes a new method to reinstall the motor and reducer near the frame, which can effectively suppress the residual vibration of the robots and simultaneously reduce the moment of inertia. Taking the series industrial robot as the research object, four types of CM robots are designed based on the theory of a multi-DOF controllable mechanism (CM). The motor and reducer of the robot are reinstalled near the frame through different branch chains, and their moments of inertia are calculated and compared. The dynamic equations of residual vibration of the four CM robots considering concentrated mass are established based on the finite element method (FEM) and Timoshenko space beam element (SBE) model, and the correctness of the equations are verified by experiments. The results show that the installation position of motor and reducer has a significant influence on the value of moment of inertia of the robot. The motor and reducer of configuration D are reinstalled near the frame by three branches, which can effectively reduce the attenuation time and amplitude of residual vibration at the end of the robot. The research provides a new idea for improving the dynamic performance of industrial robots.INDEX TERMS Controllable mechanism robot, finite element method, moment of inertia, residual vibration suppression.

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“…29 Actually, when the planar parallel robots move to the singularities, self-excited vibration can also occur. In the reference,30 when the planar flexible parallel robot moves rapidly to a singular configuration, self-excited vibration occurs and experiments are carried out. This kind of complex vibration does not need external excitation.…”

Section: Introductionmentioning

confidence: 99%

Self-excited vibration of a 3-PRR planar parallel robot

Zhu

Qiu

Xie

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Self-excited vibration of parallel robots can seriously affect the motion performance and damage the mechanical structure. In order to study the self-excited vibration characteristics of a 3-PRR (where P and R represent the prismatic and revolute joints respectively and the underlined letter represents the actuated joint) planar parallel robot, dynamic model is firstly established and the singularity is analyzed theoretically. Then the dynamic characteristics at internal and boundary singularities are both explored experimentally. The motion form and generating mechanism of the self-excited vibration are researched. The influencing factors on vibration frequency are obtained and the self-excited vibration during trajectory tracking motion is analyzed. Finally, a singularity escaping strategy is proposed and tested. Theoretical analysis and experimental results show that the performance of parallel robot deteriorates dramatically at singularities. Nevertheless, the parallel robot can pass through the internal singularity successfully with optimized load and motion speed so that the workspace can be expanded. The 3-PRR planar parallel robot exhibits self-excited vibration at internal singularities, which is mainly caused by the singularity, self-regulation of motors and the closed-chain coupling effect. The vibration frequency is mainly determined by singular configuration and the structural parameters. The parallel robot can maintain self-excited vibration state while carrying out trajectory tracking under a singular attitude angle. Moreover, the proposed singularity escaping strategy is verified to be feasible so that the self-excited vibration can be eliminated effectively.

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

Cited by 9 publications

References 14 publications

Radial basis function neural network vibration control of a flexible planar parallel manipulator based on acceleration feedback

Radial basis function neural network vibration control of a flexible planar parallel manipulator based on acceleration feedback

Research on the Residual Vibration Suppression of a Controllable Mechanism Robot

Self-excited vibration of a 3-PRR planar parallel robot

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