Motion control of a 2-DOF decoupled compliant mechanism using H synthesis

Yanding Qin, Yanling Tian, Dawei Zhang, Weiguo Gao, Bijan Shirinzadeh, Umesh Krishna Bhagat, Leon Clark

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

Abstract

A decoupled piezo-driven compliant mechanism has been designed and manufactured to track 2-DOF trajectories. Although it features decoupled characteristics, the small cross axis coupling can result in poor tracking performance in 2-DOF trajectories. For such structures, the damping ratio is so small that the modal vibrations are likely to be excited, which greatly degrade its positioning accuracy. In this paper, an H8 controller is designed to make the closed-loop system match a well-damped second order system. The H8 controller effectively suppresses the modal vibrations and further reduces the cross axis coupling motions. Experimental results show that the mechanism s tracking performance in 2-DOF trajectories is significantly improved.
Original languageEnglish
Title of host publication2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012 - Conference Proceedings
EditorsVolkmar Eichhorn, Hui Xie, Rencheng Liu, Miao Yu
Place of PublicationUSA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages222 - 227
Number of pages6
ISBN (Print)9781467345897
DOIs
Publication statusPublished - 2012
EventInternational Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (M-NANO) 2012 - Jianguo Hotel, Xi'an, China
Duration: 29 Aug 20121 Sep 2012
Conference number: 2nd
http://www.3m-nano.org/2012/main/index.asp

Conference

ConferenceInternational Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (M-NANO) 2012
Abbreviated title3M-NANO 2012
CountryChina
CityXi'an
Period29/08/121/09/12
Internet address

Cite this