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The mode shape function is difficult to determine in modeling manipulatorswith flexible links using the assumed mode method. In this paper, for a planar3-RRR parallel manipulator with flexible actuation links, we provide adata-driven method to identify the mode shape of the flexible links and proposea model-based controller for the vibration suppression. By deriving the inversekinematics of the studied mechanism in analytical form, the dynamic model isestablished by using the assumed mode method. To select the mode shapefunction, the software of multi-body system dynamics is used to simulate thedynamic behavior of the mechanism, and then the data-driven method whichcombines the DMD and SINDy algorithms is employed to identify the reasonablemode shape functions for the flexible links. To suppress the vibration of theflexible links, a state observer for the end-effector is constructed by aneural network, and the model-based control law is designed on this basis. Incomparison with the model-free controller, the proposed controller withdeveloped dynamic model has promising performance in terms of tracking accuracyand vibration suppression.

Data-driven mode shape selection and model-based vibration suppression of 3-RRR parallel manipulator with flexible actuation links