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Active vibration control of a flexible parallel manipulator 3RRR

Published online by Cambridge University Press:  19 May 2025

Renan Sanches Geronel Open the ORCID record for Renan Sanches Geronel [Opens in a new window] ,
Gustavo Corrêa de Oliveira Open the ORCID record for Gustavo Corrêa de Oliveira [Opens in a new window] ,
Gabriel Konda Rodrigues  and
Maíra Martins da Silva Open the ORCID record for Maíra Martins da Silva [Opens in a new window]
Renan Sanches Geronel*
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Sao Carlos, Brazil
Gustavo Corrêa de Oliveira
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Sao Carlos, Brazil
Gabriel Konda Rodrigues
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Sao Carlos, Brazil
Maíra Martins da Silva
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Sao Carlos, Brazil
*
Corresponding author: Renan Sanches Geronel; Email: renansanches@usp.br
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Abstract

Parallel manipulators (PMs) are adopted in different fields due to their superior characteristics compared to serial manipulators. PMs with flexible links are likely more energy efficient and have high dynamic performance since they are lighter than those with rigid links. On the other hand, due to their lightweight design, the flexibility can lead to undesired deformation and vibration, decreasing the tracking trajectory and transient errors. This work proposes a two-loop active vibration control strategy, using strain gauges and piezoelectric lead zirconate (PZT) actuators, to compensate for the undesired effect of the flexibility. A pose control loop exploits the sliding mode control using data collected from images acquired by an oCam-5CRO-U camera, while the active vibration control loop uses strain gauge sensors and PZT actuators. Strain gauges are responsible for measuring the deformation of each link, and after being treated by digital filters, these signals are applied to the PZT actuator. Combining both loops allows the manipulator to be guided over the desired trajectory with positive vibration attenuation. The results reveal that the presence of the PZT on both sides of the flexible links increases the links’ rigidity, yielding overshoot and vibration reduction during the manipulator’s motion. In addition, the maximum peak is significantly attenuated, and the overall oscillations are also positively reduced when using the two-loop active control strategy. The root mean square error quantifies this attenuation, showing an average reduction of 30% in the corresponding step input directions. Therefore, the proposal improves the system performance by enhancing the tracking trajectory with lower vibrations.

Keywords

active controlflexible manipulatorsstrain gaugesPZT actuatorvibration attenuation
Type
Research Article
Information
Robotica , First View , pp. 1 - 19
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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