Active Vibration Isolation of 6-RSS Parallel Mechanism Using Integrated Force Feedback Controllor

2011 ◽  
Author(s):  
Li Kunquan ◽  
Wen Rui
Keyword(s):  
Parallel Mechanism ◽  
Vibration Isolation ◽  
Force Feedback ◽  
Active Vibration ◽  
Active Vibration Isolation

FORCE FEEDBACK VERSUS ACCELERATION FEEDBACK IN ACTIVE VIBRATION ISOLATION

2002 ◽  
Vol 257 (4) ◽  
pp. 605-613 ◽  
Author(s):  
A. PREUMONT ◽  
A. FRANÇOIS ◽  
F. BOSSENS ◽  
A. ABU-HANIEH
Keyword(s):  
Vibration Isolation ◽  
Force Feedback ◽  
Acceleration Feedback ◽  
Active Vibration ◽  
Active Vibration Isolation

Design and Analysis of a Novel 5 Dimensional Active Vibration Isolator with Parallel Mechanism

2013 ◽  
Vol 572 ◽  
pp. 425-428
Author(s):  
Jian Kun Liu ◽  
Shuai Wang ◽  
Bing Li ◽  
Ying Hu
Keyword(s):  
Parallel Mechanism ◽  
Vibration Isolation ◽  
Vibration Isolator ◽  
Ansys Software ◽  
Wide Range ◽  
Active Vibration ◽  
Magnetostrictive Actuator ◽  
Amplification Mechanism ◽  
Set Up ◽  
Active Vibration Isolation

A novel 5-DOF parallel mechanism applied to active vibration isolation is proposed in this paper. And by using Newton-Euler approach we set up models of the kinematics and dynamics of the isolator. Besides, a wide-range giant magnetostrictive actuator (GMA) composed of a GMA and a micro-displacement amplification mechanism is designed for the actuation of the isolator. Finally modal analysis of this isolator is carried out in ANSYS software to testify that the parallel mechanism is suitable for active vibration isolation.

scholarly journals Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation

Energies ◽  
2015 ◽  
Vol 8 (8) ◽  
pp. 8001-8019 ◽  
Author(s):  
Weichao Chi ◽  
Dengqing Cao ◽  
Dongwei Wang ◽  
Jie Tang ◽  
Yifan Nie ◽  
...  
Keyword(s):  
Experimental Study ◽  
Parallel Mechanism ◽  
Vibration Isolation ◽  
Active Vibration ◽  
Active Vibration Isolation

Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

2020 ◽  
Author(s):  
Fei Guo ◽  
Shoukun Wang ◽  
Binkai Yue ◽  
Junzheng Wang
Keyword(s):  
Dynamic Model ◽  
Vibration Isolation ◽  
Force Feedback ◽  
Impedance Control ◽  
Inverse Kinematic ◽  
Control Input ◽  
Control Approach ◽  
Active Vibration ◽  
Robot Body ◽  
Active Vibration Isolation

Abstract Serving Stewart plat as wheel-legged construction, the most outstanding superiority of proposed wheel-legged hybrid robot (WLHR) is active vibration isolation during rolling on rugged terrain. This paper presents a force-driven control approach based on model predictive control (MPC) to design optimal control input for Stewart parallel wheel-leg that locomotes using swing foot trajectory. Adding adaptive impedance control in outermost loop, controlling framework prevents robot body horizontal and from vibration over rolling motion. Through dynamic model of Stewart mechanism, controller first creates predictive model by combining Newton-Euler equation, Newton-Raphson iteration of forward kinematic solving for current configuration, inverse kinematic calculation of Stewart obtaining desired joint position, and Gain/Integration module determining reference torque. With minimizing control deviation and input as objective function, a novel control optimization formulation generates optimum input for each control duration. These actuating force naturally enables each strut stretching and retracting used to realize six degree-of-freedom (6DOF) motion for Stewart wheel-leg. We exploit the variable-adapting method to reasonably adjust environmental impedance parameters by current position, velocity, force feedback of wheel-leg. This allow us to adequately acknowledge the desired support force tracking, isolating robot from isolation that is generated from unknown terrain. We demonstrate the validation of our control methodology on physical prototype by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strip. Respectively given PI controller and a sort of traditional impedance controller as comparison, a better performance of proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder, as well as IMU mounted on robot body.

Dynamics and control of a parallel mechanism for active vibration isolation in space station

2014 ◽  
Vol 76 (3) ◽  
pp. 1737-1751 ◽  
Author(s):  
Jinguo Liu ◽  
Yangmin Li ◽  
Yang Zhang ◽  
Qing Gao ◽  
Bin Zuo
Keyword(s):  
Parallel Mechanism ◽  
Vibration Isolation ◽  
Space Station ◽  
Dynamics And Control ◽  
Active Vibration ◽  
And Control ◽  
Active Vibration Isolation

scholarly journals Tilt Active Vibration Isolation Using Vertical Pendulum and Piezoelectric Transducer with Parallel Controller

2021 ◽  
Vol 11 (10) ◽  
pp. 4526
Author(s):  
Lihua Wu ◽  
Yu Huang ◽  
Dequan Li
Keyword(s):  
Piezoelectric Transducer ◽  
Vibration Isolation ◽  
Vertical Vibration ◽  
Open Loop ◽  
Negative Effects ◽  
Voltage Controller ◽  
Hysteresis Nonlinearity ◽  
Passive Vibration Isolation ◽  
Active Vibration ◽  
Active Vibration Isolation

Tilt vibrations inevitably have negative effects on some precise engineering even after applying horizontal and vertical vibration isolations. It is difficult to adopt a traditional passive vibration isolation (PVI) scheme to realize tilt vibration isolation. In this paper, we present and develop a tilt active vibration isolation (AVI) device using a vertical pendulum (VP) tiltmeter and a piezoelectric transducer (PZT). The potential resolution of the VP is dependent on the mechanical thermal noise in the frequency bandwidth of about 0.0265 nrad, which need not be considered because it is far below the ground tilt of the laboratory. The tilt sensitivity of the device in an open-loop mode, investigated experimentally using a voltage controller, is found to be (1.63±0.11)×105 V/rad. To compensate for the hysteresis nonlinearity of the PZT, we experimentally established the multi-loop mathematical model of hysteresis, and designed a parallel controller consisting of both a hysteresis inverse model predictor and a digital proportional–integral–differential (PID) adjuster. Finally, the response of the device working in close-loop mode to the tilt vibration was tested experimentally, and the tilt AVI device showed a good vibration isolation performance, which can remarkably reduce the tilt vibration, for example, from 6.0131 μrad to below 0.0103 μrad.

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