Dynamics and Isotropic Control of Parallel Mechanisms for Vibration Isolation

Parallel mechanisms have been employed as architectures of high-precision vibration isolation systems. However, their performances in all degrees of freedom (DOFs) are nonidentical. The conventional solution to this problem is isotropic mechanism design, which is laborious and can hardly be achieved...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE/ASME Transactions on Mechatronics Jg. 25; H. 4; S. 2027 - 2034
Hauptverfasser: Yang, Xiaolong, Wu, Hongtao, Li, Yao, Kang, Shengzheng, Chen, Bai, Lu, Huimin, Lee, Carman K. M., Ji, Ping
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.08.2020
Institute of Electrical and Electronics Engineers (IEEE)
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Active damping
Actuation
Aerodynamics
Aerospace electronics
Damping
Degrees of freedom
Dynamics
Force
Frequency response
Integrals
Isolation systems
isotropic control
Kinematics
parallel mechanism
Payloads
Vibration analysis
Vibration control
vibration isolation
Vibrations
ISSN:1083-4435, 1941-014X
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:Parallel mechanisms have been employed as architectures of high-precision vibration isolation systems. However, their performances in all degrees of freedom (DOFs) are nonidentical. The conventional solution to this problem is isotropic mechanism design, which is laborious and can hardly be achieved. This article proposes a novel concept; namely, isotropic control, to solve this problem. Dynamic equations of parallel mechanisms with base excitation are established and analyzed. An isotropic control framework is then synthesized in modal space. We derive an explicit relationship between modal control force and actuation force in joint space, enabling implementation of the isotropic controller. The multi-DOF system is transformed into multiidentical single-DOF systems. Under the framework of isotropic control, parallel mechanisms obtain an identical frequency response for all modes. An identical corner frequency, active damping, and rate of low-frequency transmissibility are achieved for all modes using a combining proportional, integral, and double integral compensator as a subcontroller. A 6-U P S parallel mechanism is presented as an example to demonstrate effectiveness of the new approach.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2020.2996641