Active Vibration Control of a 3-PRR Flexible Parallel Manipulator With PZT Actuators and Sensors
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Bibliographic record
Abstract
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. Experimental modal tests are conducted to identify structural vibration mode shapes and natural frequencies used. These modal tests provide guidance to design the filter and determine the location of PZT transducers. A PZT actuator controller is developed based on strain rate feedback (SRF) control. A state-space model is formulated with the control input voltage applied to PZT actuators, and output generated from PZT sensors. Then, the design of an optimal active vibration controller is presented based on SRF for the parallel manipulator with flexible links with multiple bonded PZT transducers. Active vibration control experiments are conducted to demonstrate that the proposed active vibration control strategy is effective. Power spectral density (PSD) plots of vibrations illustrate that the structural vibration of flexible links is reduced effectively when the proposed vibration control strategy is employed.
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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 | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 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