1 Experimental Modal Identification of Configuration- Dependent Vibration Using Smart Material Transducers With Application to a Planar Parallel Robot.

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Presentation transcript:

1 Experimental Modal Identification of Configuration- Dependent Vibration Using Smart Material Transducers With Application to a Planar Parallel Robot Xiaoyun Wang James K. Mills Department of Mechanical and Industrial Engineering University of Toronto 02-July-2005 University of Toronto IEEE ROBIO 2005

2 Background Vibration Control of Flexible-Linkage Robots “Nonlinearity and Configuration Dependent”:  Topology optimization of mechanisms  Utilization of high-performance composite materials  Utilization of passive damping materials  Active vibration control or “Smart Structures”

3 Background

4 Smart Parallel Platform “Smart Parallel Platform”: A parallel platform adopting smart components that can monitor and actively adapt its dynamics to suppress structural vibration in the process of trajectory control and to achieve high-speed and high precision electronics manufacturing.

5 Development of experimental modal analysis techniques for multibody systems could be one of “the most challenging and interesting problems” in the analysis of multi-body systems. (Shabana 1997) Several efforts have been taken to use smart material components to Perform EMA. (Saunders et. al 1994, Wang, et. al. 1997) Flexible mechanisms usually exhibit nonlinear and configuration dependent vibration characteristics. (Hardage et. al. 1999) Literature Review

6 Three Forms of Frequency Response Functions (FRFs) Partial fraction form: Pole-residue form: Rational polynomial form:

7 Procedure of GRFP Method

8 Type I: Hammer and Accelerometer Type II: Hammer and PZT Patch Type III: Bending Moment and Accelerometer Type IV: PZT Patch Actuator and Accelerometer Type V: PZT Patch Actuator and Sensor Different Combination of Transducers

9 Accelerometer Locations

10 Configuration of Active Vibration Control System

11 Identification Using Type I FRFs

12 Identification Using Type V FRFs

13 Influence of Rigid Body Motion on Flexible Motion

14 Configuration Dependency

15 Mode Shapes in Different Configurations

16 Simplification and Vibration Control Design

17 Active Vibration Control Experiment

18 Thank You and Any Questions? University of Toronto IEEE ROBIO 2005

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