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Improving Trajectory Tracking Performance of a 2 DOF Parallel Kinematic Manipulator With Flexible Links

[+] Author Affiliations
Hermes Giberti, Simone Cinquemani, Stefano Ambrosetti

Politecnico di Milano, Milano, Italy

Paper No. ESDA2012-82546, pp. 253-262; 10 pages
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 1: Advanced Computational Mechanics; Advanced Simulation-Based Engineering Sciences; Virtual and Augmented Reality; Applied Solid Mechanics and Material Processing; Dynamical Systems and Control
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4484-7
  • Copyright © 2012 by ASME


Flexible-link robots are an important class of manipulators which uses lightweight arms for assembly, civil infrastructure, bridge/vehicle systems and large-scale space structures. The wide spread of these systems in various application areas has ensured that the modeling of flexible elements and the control of vibration have received a great deal of attention in recent years.

In this work it is analyzed a two DOF parallel robot with two flexible links used for pick and place operations, developing a control strategy based on piezoelectric actuators and strain gauges or accelerometers embedded in the links.

The analysis of the robot behaviour and the development of the controller, have been carried out on an electromechanical model built in Matlab® and co-simulated with the multibody flexible model built in Adams®.

Results show positive confirmation of the study and encourage future tests on the real manipulator to validate the multibody model and the control strategy.

Copyright © 2012 by ASME



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