A general dynamics and control model of a class of multi-DOF manipulators for active vibration control

A general dynamic model of a class of parallel platforms for vibration control applications based on Kane's method is presented. A general parallel platform is composed of a moving platform, a base platform, and i limbs with identical kinematic structure. Each limb connects the mobile platform to the base platform by j + 1 hinges and j struts, where the prismatic actuator is fixed at one of the struts. The hinges can be replaced by any other kind of conventional hinges or flexure hinges. The control system architecture based on mixed H2/H∞ synthesis method is introduced for a class of parallel platforms as a multiple-input/multiple-output (MIMO) problem for the purpose of active vibration isolation. A case study is illustrated and the theoretical analysis is validated at last.

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► A general Kane's dynamics model is established for a class of parallel mechanisms.
► Controller design procedure is developed based on mixed H2/H∞ optimization.
► A 3-DOF parallel manipulator is studied by using the general model.
► The isolation results show the designed controller has a good performance.