Natural frequency modulation of a kinematically redundant planar parallel robot

When a parallel robot is equipped with kinematic redundancy, it has sufficient capabilities of natural frequency modulation through adjusting geometric configuration. To reduce resonance of a mechanism, this paper investigates the natural frequency modulation of a kinematically redundant planar para...

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Published in:Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2022-05, Vol.236 (9), p.4805-4817
Main Authors: Gu, Jiawei, Xie, Zhijiang, Zhang, Jian, Pi, Yangjun
Format: Article
Language:English
Subjects:
Frequency modulation
Inverse kinematics
Redundancy
Resonance
Resonant frequencies
Robots
Vibration control
Vibration effects
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Xie, Zhijiang
Zhang, Jian
Pi, Yangjun
description When a parallel robot is equipped with kinematic redundancy, it has sufficient capabilities of natural frequency modulation through adjusting geometric configuration. To reduce resonance of a mechanism, this paper investigates the natural frequency modulation of a kinematically redundant planar parallel robot. A double-threshold searching method is proposed for controlling the inverse kinematics solution and keeping the natural frequencies away from the excitation frequency. The effectiveness of modulating the natural frequencies is demonstrated by comparing it with a non-modulation method. The simulation results indicate that, in all directions, the responses are coupled, and every order should be taken into consideration during natural frequency modulation. Compared to the non-modulation method, the proposed method can reduce the resonance amplitude to a certain extent, and the effect of vibration suppression is remarkable.
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subjects Frequency modulation
Inverse kinematics
Redundancy
Resonance
Resonant frequencies
Robots
Vibration control
Vibration effects
title Natural frequency modulation of a kinematically redundant planar parallel robot
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