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Luo Lei
Wang Shigang
Mo Jinqiu
Cai Jianguo
School of Mechanical Engineering,
Shanghai Jiaotong University,
Shanghai 200030, China |
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ON THE DYNAMIC
MODELING AND
CONTROL OF 2-DOF
PLANAR PARALLEL
MECHANISM WITH
FLEXIBLE LINKS*
Abstract: The object of study is about dynamic modeling and control for a 2 degree-of-freedom (DOF) planar parallel mechanism (PM) with flexible links. The kinematic and dynamic equations are established according to the characteristics of mixed rigid and flexible structure. By using the singular perturbation approach (SPA), the model of the mechanism can be separated into slow and fast sub-systems. Based on the feedback linearization theory and input shaping technique, the large scale rigid motion controller and the flexible link vibration controller can be designed separately to achieve fast and accurate positioning of the PM.
Key words:
Parallel mechanism Flexible link Dynamic modeling Singular perturbation Input shaping
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