Modeling and Control Analysis of a 3-PUPU Dual Compliant Parallel Manipulator for Micro Positioning and Active Vibration Isolation

被引：39

作者：

Yun, Y. ^{[1
]}

Li, Y. ^{[1
,2
]}

机构：

[1] Univ Macau, Fac Sci & Technol, Dept Electromech Engn, Taipa 999078, Peoples R China

[2] Shenzhen Grad Sch, Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2012年 / 134卷 / 02期

基金：

中国国家自然科学基金;

关键词：

KINEMATIC ANALYSIS; NEURAL-NETWORK; DESIGN; ROBOT;

D O I：

10.1115/1.4005036

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level, especially for the very low frequency under 10 Hz vibration signals. This paper presents a 3-PUPU dual parallel manipulator for both rough positioning and active vibration isolation in a wide-range workspace based on our previous research experiences in the systematical modeling and study of parallel robots. The manipulator is designed as a kind of macro/micro hybrid robot. Both the kinematics model for macro motion and dynamics model for micro motion are established by using stiffness equation and the Kane's method, respectively. An active vibration control strategy is described by using the H-2 method. Moreover, numerical simulations on the inverse solution for macro motion, workspace, and the active vibration control effects are performed at the end of this paper. [DOI: 10.1115/1.4005036]

引用

页数：9