A general dynamics and control model of a class of multi-DOF manipulators for active vibration control

被引：73
|
作者：
Yun, Yuan [1 ]
Li, Yangmin [1 ]
机构：
[1] Univ Macau, Fac Sci & Technol, Dept Electromech Engn, Taipa, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2011年 / 46卷 / 10期
关键词：
Parallel mechanism; Active vibration control; Kane's method; Mixed H-2/H-infinity synthesis;
D O I：
10.1016/j.mechmachtheory.2011.04.010
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A general dynamic model of a class of parallel platforms for vibration control applications based on Kane's method is presented. A general parallel platform is composed of a moving platform, a base platform, and i limbs with identical kinematic structure. Each limb connects the mobile platform to the base platform by j + 1 hinges and j struts, where the prismatic actuator is fixed at one of the struts. The hinges can be replaced by any other kind of conventional hinges or flexure hinges. The control system architecture based on mixed H-2/H-infinity synthesis method is introduced for a class of parallel platforms as a multiple-input/multiple-output (MIMO) problem for the purpose of active vibration isolation. A case study is illustrated and the theoretical analysis is validated at last. (C) 2011 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1549 / 1574
页数：26
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