Active vibration suppression of a flexible link manipulator using a piezoelectric actuator

机译：使用压电致动器的柔性连杆机械臂的主动振动抑制

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The active vibration suppression of a single flexible link manipulator using a piezoelectric actuator is investigated. For this purpose, a finite element (FE) model is developed for the modal and transient analysis of a cantilever beam and a flexible link manipulator. A proportional control strategy is employed in a FE model to adjust the voltage applied to the piezoelectric actuator so as to control vibration. For the flexible link manipulator, it is shown that the vibration is well suppressed during and at the end of a manoeuvre by locating the piezoelectric actuator at the optimum location. The effect of the value of the controller gain on the vibration behaviour of the system is investigated and the optimum controller gain is found using two main evaluation criteria; these are contribution of dominant frequencies in response and the norms of vibration amplitudes.

机译：研究了使用压电致动器的单挠性连杆机械臂的主动振动抑制。为此，开发了一种有限元（FE）模型，用于对悬臂梁和柔性连杆机械臂进行模态和瞬态分析。在FE模型中采用比例控制策略来调节施加到压电致动器的电压，以控制振动。对于柔性连杆操纵器，示出了通过将压电致动器定位在最佳位置，在操纵期间和操纵结束时振动得到了很好的抑制。研究了控制器增益值对系统振动行为的影响，并使用两个主要评估标准找到了最佳控制器增益。这些是响应中主频的贡献以及振动幅度的范数。

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来源
《International Conference on Computer Aided Optimum Design in Engineering; 2007; Myrtle Beach,SC(US)》|2007年|P.199-208|共10页
会议地点 Myrtle BeachSC(US)
作者
H. Salmasi; R. Fotouhi; P. N. Nikiforuk;
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作者单位

Mechanical Engineering Department, University of Saskatchewan, Saskatoon, Canada;

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会议组织
原文格式 PDF
正文语种 eng
中图分类 TH122.5;
关键词
vibration suppression; cantilever beam; flexible link manipulator; piezoelectric actuator;

机译：振动抑制;悬臂梁;柔性连杆机械臂;压电致动器;

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1. Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors [J] . ValdecirBottega, AlexandreMolter, Jun S. O.Fonseca, Mathematical Problems in Engineering: Theory, Methods and Applications . 2009,第2期

机译：使用压电执行器和传感器的具有柔性非棱柱连杆的机械手的振动控制
2. Computational Simulations and Experiments on Vibration Control of a Flexible Two-link Manipulator Using a Piezoelectric Actuator [J] . Abdul Kadir Muhammad, Shingo Okamoto, Jae Hoon Lee Engineering Letters . 2015,第3期

机译：压电致动器对柔性二连杆机械手振动控制的计算仿真和实验
3. Computational Simulations and Experiments on Vibration Control of a Flexible Two-link Manipulator Using a Piezoelectric Actuator [J] . Abdul Kadir Muhammad, Shingo Okamoto, Jae Hoon Lee Engineering Letters . 2015,第3期

机译：压电致动器对柔性二连杆机械手振动控制的计算仿真和实验
4. Active vibration suppression of a flexible link manipulator using a piezoelectric actuator [C] . H. Salmasi, R. Fotouhi, P. N. Nikiforuk International Conference on Computer Aided Optimum Design in Engineering . 2007

机译：使用压电致动器的柔性连杆操纵器的主动振动抑制
5. Dynamic modeling and active vibration control of a planar 3-PRR parallel manipulator with three flexible links. [D] . Zhang, Xuping. 2009

机译：具有三个柔性连杆的平面3-PRR并联机械手的动态建模和主动振动控制。
6. A Novel Hybrid Error Criterion-Based Active Control Method for on-Line Milling Vibration Suppression with Piezoelectric Actuators and Sensors [O] . Xingwu Zhang, Chenxi Wang, Robert X. Gao, 2016

机译：压电致动器和传感器在线铣削振动抑制的基于混合误差准则的主动控制方法
7. Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors [O] . Valdecir Bottega, Alexandre Molter, Jun S. O. Fonseca, 2009

机译：使用压电致动器和传感器的柔性非塑连接机械手的振动控制

Active vibration suppression of a flexible link manipulator using a piezoelectric actuator

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