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Active Vibration Control of a Planar Parallel Manipulator using Piezoelectric Materials  

강봉수 (한남대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.4, 2003 , pp. 59-67 More about this Journal
Abstract
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.
Keywords
Piezoelectric materials; Parallel Manipulator; Structural Flexibility; Vibration control;
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Times Cited By KSCI : 2  (Citation Analysis)
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