Dynamic Modelling and Vibration Control of a Planar Parallel Manipulator with Structurally Flexible Linkages

Released on by Bongsoo Kang
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  • Dynamic Modelling and Vibration Control of a Planar Parallel Manipulator with Structurally Flexible Linkages Book Detail

  • Author : Bongsoo Kang
  • Release Date : 2008
  • Publisher :
  • Genre :
  • Pages :
  • ISBN 13 : 9783902613202
  • File Size : 36,36 MB
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Dynamic Modelling and Vibration Control of a Planar Parallel Manipulator with Structurally Flexible Linkages by Bongsoo Kang PDF Summary

Book Description: In this chapter, the equations of motion for the planar parallel manipulator are formulated by applying the Lagrangian equation of the first type. Introducing Lagrangian multipliers simplifies the complexities due to multiple closed loop chains of the parallel mechanism and the structurally flexible linkages. An active damping approach applied to two different piezoelectric materials, which are used as actuators to damp unwanted vibrations of flexible.

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Parallel Manipulators

Parallel Manipulators

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Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manip