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Nonlinear Dynamics, Volume 2 pp 281–295Cite as

Vibration Suppression of a Flexible Parallel Kinematic Manipulator

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Abstract

Robotics is moving towards applications that involve an interaction between the manipulator and the surrounding environment. From this the need to develop manipulators with compliant behavior arises in order to dynamically interact with the external environment. This can be obtained acting on both the software side, by mean of controller algorithm strategies, and the hardware side, modifying the robot structure, i.e. using flexible links. In this work a two dof parallel robot with two flexible links is analyzed. Kinematic and dynamic model of the robot are developed. The study of the compliance behavior of the manipulator is discussed in order to define an innovative trajectory planning strategy that allows the proper end-effector final positioning reducing vibrations. In this sense, input-shaping technique is used to define acceleration profile of the end-effector. Numerical simulations are then carried out to verify the goodness of the proposed method in reducing the vibrations in pick and place operations. Results show a positive response to the problem, encouraging future tests on the real manipulator.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Politecnico di Milano, Via La Masa 1, 20156, Milano, (MI), Italy

    Hermes Giberti & Cristiano Marinelli

Authors
  1. Hermes Giberti
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  2. Cristiano Marinelli
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Corresponding author

Correspondence to Hermes Giberti .

Editor information

Editors and Affiliations

  1. University of Liege, Liege, Belgium

    Gaetan Kerschen

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© 2014 The Society for Experimental Mechanics, Inc.

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Giberti, H., Marinelli, C. (2014). Vibration Suppression of a Flexible Parallel Kinematic Manipulator. In: Kerschen, G. (eds) Nonlinear Dynamics, Volume 2. Conference Proceedings of the Society for Experimental Mechanics Series. Springer, Cham. https://doi.org/10.1007/978-3-319-04522-1_27

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  • DOI: https://doi.org/10.1007/978-3-319-04522-1_27

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-04521-4

  • Online ISBN: 978-3-319-04522-1

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