Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator
Active vibration control of an axially translating robot arm with rotating-prismatic joint using self-sensing actuator is investigated. The equations of the system are derived by Lagrange’s equation with the assumed mode method. The displacement and velocity control law is used to configure the self...
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2015/964139 |
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| _version_ | 1832563811839639552 |
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| author | Liang Zhao Zhen-Dong Hu |
| author_facet | Liang Zhao Zhen-Dong Hu |
| author_sort | Liang Zhao |
| collection | DOAJ |
| description | Active vibration control of an axially translating robot arm with rotating-prismatic joint using self-sensing actuator is investigated. The equations of the system are derived by Lagrange’s equation with the assumed mode method. The displacement and velocity control law is used to configure the self-sensing actuator, which provides the active damping and stiffness effect to the structure. The numerical simulations reveal that the tip deflection of the arm can be effectively reduced by the self-sensing actuator. The amplitude of sensor voltage is inversely proportional to the length of axially
translating arm. And higher feedback control gain results in lower sensor voltages and vibration amplitudes. |
| format | Article |
| id | doaj-art-e8774c65607b4692a3044639dae79711 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-e8774c65607b4692a3044639dae797112025-02-03T01:12:37ZengWileyShock and Vibration1070-96221875-92032015-01-01201510.1155/2015/964139964139Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing ActuatorLiang Zhao0Zhen-Dong Hu1School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, ChinaSchool of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, ChinaActive vibration control of an axially translating robot arm with rotating-prismatic joint using self-sensing actuator is investigated. The equations of the system are derived by Lagrange’s equation with the assumed mode method. The displacement and velocity control law is used to configure the self-sensing actuator, which provides the active damping and stiffness effect to the structure. The numerical simulations reveal that the tip deflection of the arm can be effectively reduced by the self-sensing actuator. The amplitude of sensor voltage is inversely proportional to the length of axially translating arm. And higher feedback control gain results in lower sensor voltages and vibration amplitudes.http://dx.doi.org/10.1155/2015/964139 |
| spellingShingle | Liang Zhao Zhen-Dong Hu Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator Shock and Vibration |
| title | Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator |
| title_full | Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator |
| title_fullStr | Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator |
| title_full_unstemmed | Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator |
| title_short | Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator |
| title_sort | active vibration control of an axially translating robot arm with rotating prismatic joint using self sensing actuator |
| url | http://dx.doi.org/10.1155/2015/964139 |
| work_keys_str_mv | AT liangzhao activevibrationcontrolofanaxiallytranslatingrobotarmwithrotatingprismaticjointusingselfsensingactuator AT zhendonghu activevibrationcontrolofanaxiallytranslatingrobotarmwithrotatingprismaticjointusingselfsensingactuator |