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TECHNICAL PAPERS

Locally Linearized Dynamic Analysis of Parallel Manipulators and Application of Input Shaping to Reduce Vibrations

[+] Author and Article Information
Kris Kozak, Imme Ebert-Uphoff, William Singhose

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405

J. Mech. Des 126(1), 156-168 (Mar 11, 2004) (13 pages) doi:10.1115/1.1640362 History: Received August 01, 2001; Online March 11, 2004
Copyright © 2004 by ASME
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References

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Figures

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Overview of proposed use of input shaping
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Overview of closed-loop system, i.e. the parallel manipulator with control loop
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Implementation of locally tuned input shaping
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Two degree-of-freedom parallel manipulator
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Low natural frequency plot
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High natural frequency plot
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Composite plot of high and low natural frequencies
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Damping ratios corresponding to low mode
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Damping ratios corresponding to high mode
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Sensitivity plot of SI shaper
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Response of parallel manipulator to shaped and unshaped commands
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Response of parallel manipulator to shaped and unshaped commands
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Exact elimination of residual vibration
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Joint position l1 of the manipulator for step command across reachable workspace
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Various restricted workspaces of the parallel manipulator
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Probability densities for residual vibrations in specified workspace 1 for mean ZV shaper
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Probability densities for residual vibrations in specified workspace 2 for mean ZV shaper
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Probability densities for residual vibrations in specified workspace 3 for mean ZV shaper

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