Vibration Suppression of Manipulator with Multiple-mode Negative

摘要：

　　The methodologies and application of multiple-mode negative impulses input shaping of a 3-DOF parallel maniPulator with flexible intermediate linkages are presented in this paper.First,the structural system and the dynamic equations are expressed for a 3-DOF manipulator.Second,the multiple-mode negative impulses input shaping is introduced to reduce the residual vibration of the multiple-mode system and decrease the delay time of the system response at the same time.Finally,the theory of the multiple-mode ZV,ZVD and El negative impulses input shapers are presented,and the two-mode negative impulses input shapers of a 3-DOF manipulator are established and compared with the positive impulses input shapers.

关键词： Multiple mode Manipulator Input shaping Vibration suppression

作者: Qing Huang Dan Zhang Bing Li Yulan Wei

作者单位: School of Information and Engineering, Huzhou Teachers College, Huzhou, 313000, P.R.China

会议类型: 国际会议

会议名称: 2012 2nd International Symposium on Chemical Engineering and Material Properties(ISCEMP2012)(2012第二届化学工程与材料特性国际研讨会)

会议地点: 太原

会议语种:英文

页码: 816-820

在线出版日期: 2012-06-23（万方平台首次上网日期，不代表论文的发表时间）