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Vibration Suppression on High Speed Parallel Robots with Adaptronic Components

Rose, Michael and Keimer, Ralf and Algermissen, Stephan (2003) Vibration Suppression on High Speed Parallel Robots with Adaptronic Components. 10th International Congress on Sound and Vibration (ICSV) , 07. - 10. Juli 2003, Stockholm, Schweden.

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Abstract

The increasing demands on industrial robots regarding speed and precision lead to the investigation of parallel mechanisms, because they are stiffer than serial robotic structures and the obtainable accelerations are higher, due to the fact that the weighty drives are fixed to the reference frame. To further enhance the precision or to shorten the cycle time, unwanted vibrations of the end effector can be reduced by adaptronic devices. These concepts will be most useful in directions orthogonal to the actuation authority of the electric drives. The kinematical and dynamical equations of typical parallel mechanisms are highly non-linear. The position-dependent coefficients of the underlying state space models for the structural vibrations lead to some difficulty in the design of appropriate control strategies. In this paper a five revolute joint parallel test platform with two integrated stack actuators will be presented. After a short summary of the physical realization, an overview of the modeling approach will also be given. The system identification reveals two position dependent eigenfrequencies of approximately 10 and 230 hertz. Finally the promising results of a simulation study, which is based on an interpolating state space control law, will be compared with an implemented control strategy, realized on a dSPACE platform. Both approaches show, that the structural damping of parallel systems with composite fibre materials can be significantly increased

Item URL in elib:https://elib.dlr.de/83635/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Vibration Suppression on High Speed Parallel Robots with Adaptronic Components
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Rose, MichaelUNSPECIFIEDUNSPECIFIED
Keimer, RalfUNSPECIFIEDUNSPECIFIED
Algermissen, StephanUNSPECIFIEDUNSPECIFIED
Date:July 2003
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Smart structures, vibration reduction, parallel robot
Event Title:10th International Congress on Sound and Vibration (ICSV)
Event Location:Stockholm, Schweden
Event Type:international Conference
Event Dates:07. - 10. Juli 2003
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research (old)
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Structures & Materials (old)
Location: Braunschweig
Institutes and Institutions:Institute of Composite Structures and Adaptive Systems > Adaptronics
Deposited By: Böhringer-Thelen, Isolde
Deposited On:05 Aug 2013 10:15
Last Modified:05 Aug 2013 10:15

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