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On the modeling and composite control of flexible parallel mechanism

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Abstract

One of the key problems in high speed motion control of a flexible parallel mechanism (PM) is to damp out the mechanical vibration arising from high inertial force acting on the linkages and other components. In this paper, the dynamic equations of a 2 degree-of-freedom (DOF) planar PM with flexible links are established by taking the singular perturbation approach (SPA). Thus the model of the mechanism can be separated into slow time-scale and fast time-scale subsystems. Based on the feedback linearization theory and input shaping technique, the large range rigid motion controller and the flexible link vibration controller can be designed separately. A composite control with the two separate controllers can then be applied in the PM to achieve the desired fast and accurate positioning.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200030, P.R. China

    L. Luo, S. Wang, J. Mo & J. Cai

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  1. L. Luo
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  2. S. Wang
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  3. J. Mo
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  4. J. Cai
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Correspondence to L. Luo.

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Luo, L., Wang, S., Mo, J. et al. On the modeling and composite control of flexible parallel mechanism. Int J Adv Manuf Technol 29, 786–793 (2006). https://doi.org/10.1007/s00170-005-2554-8

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  • DOI: https://doi.org/10.1007/s00170-005-2554-8

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