한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제20권4호
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  • Pages.59-67
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  • 2003
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

압전소자를 이용한 수평 병렬형 머니풀레이터의 능동 진동 제어

Active Vibration Control of a Planar Parallel Manipulator using Piezoelectric Materials

  • 발행 : 2003.04.01
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초록

This paper presents a new approach for the use of smart materials, piezoelectric materials of PVDF and PZT, for vibration attenuation of a planar parallel manipulator. Since lightweight linkages of parallel manipulators deform under high acceleration/deceleration, an active damper is needed to attenuate vibration due to structural flexibility of linkages. Based on the dynamic model of a planar parallel manipulator, an active damping controller is developed, which consists of a PD feedback control scheme, applied to linear electrical motors, and a linear velocity feedback (L-type) scheme applied to either PVDF layer or PZT actuator(5). Simulation results show that piezoelectric materials yield good damping performance, resulting in precise manipulations of a planar parallel manipulator.

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참고문헌

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