PZT Actuators’ Effect on Vibration Control of the PRRRP 2-DOF Flexible Parallel Manipulator | Zendy

Amin Valizadeh | Zendy; Morteza Shariatee | Zendy

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PZT Actuators’ Effect on Vibration Control of the PRRRP 2-DOF Flexible Parallel Manipulator

Author(s) -

Amin Valizadeh,

Morteza Shariatee

Publication year - 2021

Publication title -

shock and vibration

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.418

H-Index - 45

eISSN - 1875-9203

pISSN - 1070-9622

DOI - 10.1155/2021/6985661

Subject(s) - vibration , control theory (sociology) , kinematics , actuator , flexibility (engineering) , nonlinear system , parallel manipulator , trajectory , dynamic equation , vibration control , planar , manipulator (device) , mode (computer interface) , computer science , control engineering , engineering , control (management) , mechanical engineering , mathematics , physics , acoustics , robotic arm , classical mechanics , statistics , computer graphics (images) , quantum mechanics , astronomy , artificial intelligence , operating system

Thanks to their advantages over rigid ones, interest for lightweight parallel manipulator was increased. Besides, structural flexibility effects at high operational speeds are more significant. Thus, developing an appropriate model for the assessment of the dynamic properties of flexible mechanisms and linkages to gain effective vibration control will raise high demand. Therefore, this paper represents the dynamic and kinematic modeling using the assumed mode method and first-type Lagrange equations of the 2-DOF planar parallel manipulator with two flexible links. To truly predict vibrations of the manipulator without any major simplifying assumptions, nonlinear dynamic modeling, which thoroughly attempts to represent the flexible behavior of the links, is considered. As a result, an active damping approach is being studied with PZT actuators. The results show that this approach is effective in damping the vibrations of the links that give accurate trajectory control.

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