0
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
Your Session has timed out. Please sign back in to continue.

References

Figures

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

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In