Flexible linkage structural vibration control on a 3-PRR planar parallel manipulator: Experimental results
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Piezoelectric actuators and sensors have been used for vibration control of flexible manipulators and mechanisms since the 1990s. However, very few attempts have been made toward experimental investigations compared with numerical simulations, especially for mechanisms and manipulators with multiple flexible links. This paper presents an experimental study on active vibration control of a moving 3-PRR parallel manipulator with three flexible intermediate links with bonded lead zirconate titanate (PZT) actuators and sensors. First, experimental modal tests are conducted with an impulse force hammer and an accelerometer to identify structural vibration mode shapes and natural frequencies of the flexible manipulator. These modal test results are used to provide guidance for the determination of the location of PZT transducers and the design of an active vibration controller. Then, a strain rate feedback (SRF) controller is designed in modal space. A state-space model is formulated with the control input voltage applied to PZT actuators, and output generated voltage from PZT sensors. The design of an optimal active vibration controller is addressed based on SRF. Furthermore, to suppress the noise introduced through the differentiation of the strain signal, a second-order auxiliary compensator is introduced to the SRF controller. The design of the SRF controller and the noise attenuation compensator is addressed utilizing vibration theories. Finally, active vibration control experiments are implemented to demonstrate that the proposed active vibration control strategy is effective. Power spectral density plots of vibrations illustrate that the structural vibration of flexible links is suppressed effectively when the proposed SRF vibration control strategy is employed.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it