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2005
IEEE

Active Control of Configuration-Dependent Linkage Vibration with Application to a Planar Parallel Platform

9 years 5 months ago
Active Control of Configuration-Dependent Linkage Vibration with Application to a Planar Parallel Platform
—A new lightweight planar parallel platform aims to greatly improve operational speed of electronic manufacturing process and to realize a “smart parallel platform” through the integration of a parallel mechanism architecture, new sensing techniques and active vibration control using Lead Zirconate Titanate (PZT) transducers. Experiments using an accelerometer, an impact hammer, and PZT transducers are performed to accomplish Experimental Modal Analysis (EMA), which has not been thoroughly investigated on flexible mechanisms. Through EMA, vibration characteristics of flexible linkages, when the platform is stationary and in motion, are modeled, with configuration-dependent vibration observed. Based on assumptions made in EMA, a modal control strategy using constant mode shapes is designed to control configurationdependent linkage vibration. Active vibration control experimental results, showing a 40%-50% reduction of vibration amplitudes, validate the effectiveness of the control...
Xiaoyun Wang, James K. Mills
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Xiaoyun Wang, James K. Mills
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