Advertisement

A Control Concept for Parallel Kinematics

  • Alexandra Ratering
  • Peter Eberhard
Conference paper
Part of the Solid Mechanics and its Applications book series (SMIA, volume 130)

Abstract

In machine tools with parallel and hybrid kinematics new problems arise in comparison to standard machines, such as inherently nonlinear dynamics, machine vibrations due to elasticities especially because of the lightweight construction and independently controllable drives being infeasible due to the parallel kinematics. Simulation results with a combination of advanced position control methods such as the presented nonlinear flatness-based controller together with active vibration damping show the potential to significantly improve the machine tool performance with such a control concept.

Key words

parallel kinematics elastic multibody system flatness nonlinear position control active vibration damping 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Dietz, S. (1999). Vibration and Fatigue Analysis of Vehicle Systems Using Component Modes, Fortschritt-Berichte VDI, Reihe 12, Nr. 401. VDI-Verlag, Düsseldorf.Google Scholar
  2. Gawronski, W.K. (1998). Dynamics and Control of Structures. Springer Verlag, Berlin.Google Scholar
  3. Ratering, A. and Eberhard, P. (2004). Flatness-Based Control of a Machine Tool with Lambda Kinematic. In Proc. of the NOLCOS 2004, 6th IFAC-Symposium on Nonlinear Control Systems, accepted for publication.Google Scholar
  4. Rothfuß, R., Rudolph, J. and Zeitz, M. (1997). Flachheit: Ein neuer Zugang zur Steuerung und Regelung nichtlinearer Systeme. Automatisierungstechnik, 11:517–525.Google Scholar
  5. Schiehlen, W. and Eberhard, P. (2004). Technische Dynamik. Teubner, Wiesbaden.Google Scholar
  6. Schwertassek, R. and Wallrapp, O. (1999). Dynamik flexibler Mehrkörpersysteme. Vieweg Verlag, Braunschweig/Wiesbaden.Google Scholar
  7. Shabana, A. (1998). Dynamics of Multibody Systems. Cambridge University Press, Cambridge.Google Scholar

Copyright information

© Springer 2005

Authors and Affiliations

  • Alexandra Ratering
    • 1
  • Peter Eberhard
    • 1
  1. 1.Institute B of MechanicsUniversity of StuttgartGermany

Personalised recommendations