Journal of South China University of Technology (Natural Science Edition) ›› 2017, Vol. 45 ›› Issue (5): 24-30,67.doi: 10.3969/j.issn.1000-565X.2017.05.004

• Mechanical Engineering • Previous Articles     Next Articles

Experimental Investigation into Self -Excited Vibration of a Planar 3-RRR Parallel Manipulator

LIU Sheng QIU Zhi-cheng ZHANG Xian-min   

  1. Guangdong Province Key Laboratory of Precision Equipment and Manufacturing Technology//School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2016-07-15 Revised:2016-10-07 Online:2017-05-25 Published:2017-04-01
  • Contact: 张宪民( 1964-) ，男，教授，博士生导师，主要从事机构学、精密制造装备与现代化控制技术研究． E-mail:zhangxm@scut.edu.cn
  • About author:刘胜( 1986-) ，男，博士生，主要从事并联机器人控制研究． E-mail: liusheng20080818@163． com
  • Supported by:
    Supported by the Joint Fund of the National Natural Science Foundation and the Guandong Provincial Natural Science Foundation( U1501247)

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Abstract: Dealt with in this paper are the effects of singularity configuration and servo gain of drive motors on the self-excited vibration of planar 3-RRR parallel manipulator.Firstly,the kinematics constraint equation of the planar 3-RRR parallel manipulator was established,and the velocity constraint equation as well as the acceleration constraint equation was obtained via derivation.Meanwhile,the forward and inverse solutions of position,velocity and acceleration are analyzed.Secondly,the singularity was measured by using the velocity Jacobin matrix.Then,an experimental system was established to test the self-excited vibration respectively in singular and non-singular configurations after analyzing the control principle of drive motors.Moreover,the input position,velocity and acceleration of active joints were tested by sensors,the position and acceleration of the moving platform were obtained via forward kinematics,and the obtained acceleration of the moving platform accord with the test one well.Finally,the self-excited vibration in non-singular configurations was successfully avoided by adjusting the servo gain of drive motors.

Key words: robot, planar 3-RRR parallel manipulator, self-excited vibration, singularity, servo systems