{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:07:02Z","timestamp":1760242022811,"version":"build-2065373602"},"reference-count":26,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2018,11,26]],"date-time":"2018-11-26T00:00:00Z","timestamp":1543190400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1501247, 61603103, and 51505092"],"award-info":[{"award-number":["U1501247, 61603103, and 51505092"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Natural Science Foundation Guangdong Province","award":["2015A030310181, and 2016A030310293"],"award-info":[{"award-number":["2015A030310181, and 2016A030310293"]}]},{"name":"the Science and Technology Innovation Project of Foshan","award":["2015AG10018"],"award-info":[{"award-number":["2015AG10018"]}]},{"name":"High-Level Talent Start-Up Research Project of Foshan University","award":["Gg07022"],"award-info":[{"award-number":["Gg07022"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Residual vibration suppression of a 3-DOF flexible parallel robot mechanism is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT (lead zirconium titanate) material, a general motion equation is established which includes an input equation of PZT actuators and an output equation of PZT sensors. A strain and strain rate feedback (SSRF) controller is designed based on the established general motion equation. A numerical simulation is implemented to verify the effectiveness of the SSRF controller in driving the proposed robotic mechanism. The simulation results reveal that the SSRF controller can decrease the elastic vibration displacement of the flexible links rapidly and improve the position accuracy of the moving platform. In the experimental study, one scheme with three passive flexible links is controlled by the SSRF controller at the same time as the performance of the introduced solutions. The experimental results show that the strain and strain rate feedback controller is able to effectively suppress the residual vibration of the 3-DOF flexible parallel robot mechanism. The results of the numerical simulation and experiment are completely consistent.<\/jats:p>","DOI":"10.3390\/s18124145","type":"journal-article","created":{"date-parts":[[2018,11,27]],"date-time":"2018-11-27T03:31:33Z","timestamp":1543289493000},"page":"4145","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Study on Residual Vibration Suppress of a 3-DOF Flexible Parallel Robot Mechanism"],"prefix":"10.3390","volume":"18","author":[{"given":"Qinghua","family":"Zhang","sequence":"first","affiliation":[{"name":"Department of Mechatronics, Foshan University, Foshan 528000, China"}]},{"given":"Qinghua","family":"Lu","sequence":"additional","affiliation":[{"name":"Department of Mechatronics, Foshan University, Foshan 528000, China"}]},{"given":"Xianmin","family":"Zhang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Precision Equipment and Manufacturing Technology of Guangdong Province, South China University of Technology, Guangzhou 510641, China"}]},{"given":"Junjun","family":"Wu","sequence":"additional","affiliation":[{"name":"Department of Mechatronics, Foshan University, Foshan 528000, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,11,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"533","DOI":"10.1017\/S0263574703005642","article-title":"Control of flexible manipulators: A survey","volume":"22","author":"Bensoman","year":"2004","journal-title":"Robotica"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"749","DOI":"10.1016\/j.mechmachtheory.2006.01.014","article-title":"Dynamic analysis of flexible manipulators, a literature review","volume":"41","author":"Dwivedy","year":"2006","journal-title":"Mech. 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