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Research Papers

Modeling and Control Analysis of a 3-PUPU Dual Compliant Parallel Manipulator for Micro Positioning and Active Vibration Isolation

[+] Author and Article Information
Y. Yun

 Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macao SAR, China e-mail: ya77406@umac.mo

Y. Li1

Department of Electromechanical Engineering,  Faculty of Science and Technology, University of Macau, Taipa, Macao SAR 999078, China; School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen Graduate School, Shenzhen 518055, China e-mail: ymli@umac.mo

1

Corresponding author.

J. Dyn. Sys., Meas., Control 134(2), 021001 (Dec 29, 2011) (9 pages) doi:10.1115/1.4005036 History: Received May 25, 2010; Revised June 19, 2011; Published December 29, 2011; Online December 29, 2011

In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level, especially for the very low frequency under 10 Hz vibration signals. This paper presents a 3-PUPU dual parallel manipulator for both rough positioning and active vibration isolation in a wide-range workspace based on our previous research experiences in the systematical modeling and study of parallel robots. The manipulator is designed as a kind of macro/micro hybrid robot. Both the kinematics model for macro motion and dynamics model for micro motion are established by using stiffness equation and the Kane’s method, respectively. An active vibration control strategy is described by using the H2 method. Moreover, numerical simulations on the inverse solution for macro motion, workspace, and the active vibration control effects are performed at the end of this paper.

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Figures

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Figure 1

A 3-PUPU dual parallel manipulator

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Figure 2

Single limb of the parallel mechanism

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Figure 3

Coordinate system of the 3-UPU parallel platform

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Figure 4

A schematic of the active vibration control and rough positioning control

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Figure 5

Block diagram for acceleration feedback active vibration control

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Figure 6

Rigid-flexible coupling model built up by using ADAMS

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Figure 7

Reachable and usable workspace of the macro motion

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Figure 8

Reachable and usable workspace of the micro motion

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Figure 9

An active vibration model based on MATLAB /SIMULINK

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Figure 10

Interference displacement and acceleration acting on the base platform

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Figure 11

The open-loop response of the moving platform (a)

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Figure 12

The closed-loop response of the moving platform (a)

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Figure 13

The open-loop response of the moving platform (b)

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Figure 14

The closed-loop response of the moving platform (b)

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