In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level, especially for the very low frequency under 10 Hz vibration signals. This paper presents a 3-PUPU dual parallel manipulator for both rough positioning and active vibration isolation in a wide-range workspace based on our previous research experiences in the systematical modeling and study of parallel robots. The manipulator is designed as a kind of macro/micro hybrid robot. Both the kinematics model for macro motion and dynamics model for micro motion are established by using stiffness equation and the Kane’s method, respectively. An active vibration control strategy is described by using the H2 method. Moreover, numerical simulations on the inverse solution for macro motion, workspace, and the active vibration control effects are performed at the end of this paper.
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March 2012
Research Papers
Modeling and Control Analysis of a 3-PUPU Dual Compliant Parallel Manipulator for Micro Positioning and Active Vibration Isolation
Y. Yun,
Y. Yun
Ph.D. Candidate
Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau
, Taipa, Macao SAR, China
e-mail:
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Y. Li
Y. Li
Professor
Department of Electromechanical Engineering,
Faculty of Science and Technology, University of Macau
, Taipa, Macao SAR 999078, China
; School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen Graduate School, Shenzhen 518055, China e-mail:
Search for other works by this author on:
Y. Yun
Ph.D. Candidate
Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau
, Taipa, Macao SAR, China
e-mail:
Y. Li
Professor
Department of Electromechanical Engineering,
Faculty of Science and Technology, University of Macau
, Taipa, Macao SAR 999078, China
; School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen Graduate School, Shenzhen 518055, China e-mail: J. Dyn. Sys., Meas., Control. Mar 2012, 134(2): 021001 (9 pages)
Published Online: December 29, 2011
Article history
Received:
May 25, 2010
Revised:
June 19, 2011
Online:
December 29, 2011
Published:
December 29, 2011
Citation
Yun, Y., and Li, Y. (December 29, 2011). "Modeling and Control Analysis of a 3-PUPU Dual Compliant Parallel Manipulator for Micro Positioning and Active Vibration Isolation." ASME. J. Dyn. Sys., Meas., Control. March 2012; 134(2): 021001. https://doi.org/10.1115/1.4005036
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