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Shock and Vibration
Volume 2016, Article ID 4780181, 17 pages
http://dx.doi.org/10.1155/2016/4780181
Research Article

Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism

1Department of Mechatronics, Foshan University, Foshan, Guangdong 528000, China
2Key Laboratory of Precision Equipment and Manufacturing Technology of Guangdong Province, Wushan Road, Tianhe District, Guangzhou 510641, China

Received 21 April 2016; Revised 15 July 2016; Accepted 20 July 2016

Academic Editor: Francesco Ripamonti

Copyright © 2016 Qinghua Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

An active vibration control experiment of planar 3-RRR flexible parallel robots is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT material, a general motion equation is established. A strain rate feedback controller is designed based on the established general motion equation. Four control schemes are designed in this experiment: three passive flexible links are controlled at the same time, only passive flexible link 1 is controlled, only passive flexible link 2 is controlled, and only passive flexible link 3 is controlled. The experimental results show that only one flexible link controlled scheme  suppresses elastic vibration and cannot suppress the elastic vibration of the other flexible links, whereas when three passive flexible links are controlled at the same time, they are able to effectively suppress the elastic vibration of all of the flexible links. In general, the experiment verifies that a strain rate feedback controller is able to effectively suppress the elastic vibration of the flexible links of plane 3-RRR flexible parallel robots.