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

Yuan Yun, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

69 Citations (Scopus)


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.
Original languageEnglish
Pages (from-to)1549-1574
Number of pages26
JournalMechanism and Machine Theory
Issue number10
Publication statusPublished - 1 Oct 2011
Externally publishedYes


  • Active vibration control
  • Kane's method
  • Mixed H /H synthesis 2 ∈
  • Parallel mechanism

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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