Active vibration control of a flexible parallel manipulator 3RRR

Autor(es)

Geronel, Renan Sanches ; de Oliveira, Gustavo Correa ; Rodrigues, Gabriel Konda ; da Silva, Maira Martins

• Tipo de documento: Artigo Científico
• Fonte: ROBOTICA; v. N/A, p. 19-pg., 2025-05-19.

Resumo

Parallel manipulators (PMs) are adopted in different fields due to their superior characteristics compared to serial manipulators. PMs with flexible links are likely more energy efficient and have high dynamic performance since they are lighter than those with rigid links. On the other hand, due to their lightweight design, the flexibility can lead to undesired deformation and vibration, decreasing the tracking trajectory and transient errors. This work proposes a two-loop active vibration control strategy, using strain gauges and piezoelectric lead zirconate (PZT) actuators, to compensate for the undesired effect of the flexibility. A pose control loop exploits the sliding mode control using data collected from images acquired by an oCam-5CRO-U camera, while the active vibration control loop uses strain gauge sensors and PZT actuators. Strain gauges are responsible for measuring the deformation of each link, and after being treated by digital filters, these signals are applied to the PZT actuator. Combining both loops allows the manipulator to be guided over the desired trajectory with positive vibration attenuation. The results reveal that the presence of the PZT on both sides of the flexible links increases the links' rigidity, yielding overshoot and vibration reduction during the manipulator's motion. In addition, the maximum peak is significantly attenuated, and the overall oscillations are also positively reduced when using the two-loop active control strategy. The root mean square error quantifies this attenuation, showing an average reduction of 30% in the corresponding step input directions. Therefore, the proposal improves the system performance by enhancing the tracking trajectory with lower vibrations. (AU)

• Processo FAPESP: 23/00687-8 - Aprimoramento de desempenho de metaestuturas inteligentes para controle vibroacústico em banda larga
• Beneficiário: Gabriel Konda Rodrigues
• Modalidade de apoio: Bolsas no Brasil - Pós-Doutorado
• Processo FAPESP: 18/21336-0 - Alcançando altas acelerações com manipuladores paralelos, Fase II: instrumentação, modelagem e controle de um manipulador flexível
• Beneficiário: Maira Martins da Silva
• Modalidade de apoio: Auxílio à Pesquisa - Regular
• Processo FAPESP: 22/06816-1 - Controle de Manipuladores Paralelos Planos com Elos Flexíveis: uma Abordagem Livre de Modelos Dinâmicos
• Beneficiário: Gustavo Corrêa de Oliveira
• Modalidade de apoio: Bolsas no Brasil - Mestrado
• Processo FAPESP: 23/07834-6 - Gêmeos Digitais: uma Abordagem Integrada para a Modelagem e Controle de Manipuladores Flexíveis
• Beneficiário: Renan Sanches Geronel
• Modalidade de apoio: Bolsas no Brasil - Pós-Doutorado