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active damping

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Dynamic modeling of structurally-flexible planar parallel manipulator
Bongsoo Kang, James K. Mills
Journal:

Robotica / Volume 20 / Issue 3 / May 2002

Published online by Cambridge University Press:

07 May 2002, pp. 329-339
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This paper presents a dynamic model of a planar parallel manipulator including structural flexibility of several linkages. The equations of motion are formulated using the Lagrangian equations of the first type and Lagrangian multipliers are introduced to represent the geometry of multiple closed loop chains. Then, an active damping approach using a PZT actuator is described to attenuate structural vibration of the linkages. Overall dynamic behavior of the manipulator, induced from structural flexibility of the linkage, is well illustrated through simulations. This analysis will be used to develop a prototype parallel manipulator.