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University of Toronto

IEEE ROBIO 2005. University of Toronto. Experimental Modal Identification of Configuration-Dependent Vibration Using Smart Material Transducers With Application to a Planar Parallel Robot Xiaoyun Wang (xywang@mie.utoronto.ca) James K . Mills (mills@mie.utoronto.ca)

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University of Toronto

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  1. IEEE ROBIO 2005 University of Toronto Experimental Modal Identification of Configuration-Dependent Vibration Using Smart Material Transducers With Application to a Planar Parallel Robot Xiaoyun Wang (xywang@mie.utoronto.ca) JamesK. Mills (mills@mie.utoronto.ca) Department of Mechanical and Industrial Engineering University of Toronto 02-July-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. Literature Review 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)

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

  7. Procedure of GRFP Method

  8. Different Combination of Transducers 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

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

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