Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
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Dynamic Analysis and Driving Input Shaping of Inchworm

이송자벌레의 동적 해석 및 구동 입력신호 설계

  • 김인수 (금오공과대학교 기계공학부) ;
  • 김영식 (금오공과대학교 기계공학부)
  • Published : 2008.07.20
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Abstract

This paper presents an inchworm with three piezoelectric actuators. The dynamic stiffness of the inchworm is generally low compared to its driving condition, so mechanical vibration may degenerate the motion accuracy of the inchworm. The dynamic model of inchworm is identified by curve fitting technique based on the experimental frequency response function. For the precision motion control and low residual vibration of inchworm, driving input signal is designed by using cycloid step input and LQG control technique. Experimental result shows that proposed input shaping method is applicable effectively to the inchworm.

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References

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