Vibration Suppression of Flexible Linkage Mechanisms Using Piezoelectric Sensors and Actuators

This paper presents a theoretical and experimental study on the vibration suppression of the elastodynamic response of high-speed flexible linkage mechanisms by incorporating smart materials featuring piezoceramic actuators and sensors into the mech anism systems. A mixed variational principle is developed to provide the basis for the deri vation of the finite element equations governing the dynamic responses of the flexible links, the behaviors of the piezoelectric materials and their coupling relationships. The mathematical models of the piezoelectric sensors and actuators are then developed and employed in the finite element analysis and the control system design. To ensure the robust stability, the classical control approach is utilized to design the control system for actively suppressing the vibratory motions of the flexible links. An experimental study on a four- bar linkage mechanism with one flexible link is performed in order to verify the mathe matical model and the results of computer simulation, and evaluate the robustness of the control system.