Vibration control of elastodynamic response of a 3-PRR flexible parallel manipulator using PZT transducers
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Bibliographic record
Abstract
SUMMARY This paper addresses the dynamic simulation and control of structural vibrations of a 3-PRR parallel manipulator with three flexible intermediate links, to which are bonded lead zirconate titanate (PZT) actuators and sensors. Flexible intermediate links are modelled as Euler–Bernoulli beams with pinned-pinned boundary conditions. A PZT actuator controller is designed based on strain rate feedback (SRF) control. Control moments from PZT actuators are transformed to force vectors in modal space and are incorporated in the dynamic model of the manipulator. The dynamic equations are developed based on the assumed mode method for the flexible parallel manipulator with multiple PZT actuator and sensor patches. Numerical simulation is performed and the results indicate that the proposed active vibration control strategy is effective. Spectral analyses of structural vibrations further illustrate that deformations from structural vibration of flexible links are suppressed to a significant extent when the proposed vibration control strategy is employed, while the deflections caused by inertial and coupling forces are not reduced.
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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)
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Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
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