On the effect of structural elasticity on the stability and performance of parallel manipulators | IEEE Conference Publication | IEEE Xplore

On the effect of structural elasticity on the stability and performance of parallel manipulators


Abstract:

This work deals with the control design and control simulation for a parallel structure with reduced degrees of freedom. Firstly, a novel coupled PD-control algorithm whi...Show More

Abstract:

This work deals with the control design and control simulation for a parallel structure with reduced degrees of freedom. Firstly, a novel coupled PD-control algorithm which yields uniform eigenfrequencies and properties in all directions of motion is introduced. The results of the linear model are compared to automated MBS-simulations. Afterwards, the stability range is compared to the actual measured stability range which is much smaller. Elasticity effects due to the platform and the joint stiffness are implemented in the MBS-model and evaluated. In the last step, we compare the simulated stability regions of the updated MBS-models to the measured boundaries.
Date of Conference: 06-10 May 2013
Date Added to IEEE Xplore: 17 October 2013
ISBN Information:
Print ISSN: 1050-4729
Conference Location: Karlsruhe, Germany

References

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