Vibration suppression of a 3-PRR flexible parallel manipulator using input shaping

This paper presents the application of input shaping to the vibration suppression of a 3-PRR parallel manipulator with flexible intermediate linkages. First, structural dynamic equations are established for the manipulator, based on the assumed mode method. Then, an input shaping command is proposed to suppress the residual vibration. The theory of the input shaping is presented. A comparison of the ZV, ZVD and EI input shaping approaches is carried out. Finally, the numerical simulations are performed, and the sensitivity curves of ZV, ZVD and EI input shapers are provided.