中文摘要：

以在半主动控制领域具有良好应用前景的压电元件为基础,在受控机械臂上粘贴压电陶瓷（PZT）片,运用基于压电分流阻尼的振动被动控制和基于同步开关阻尼（SSD）技术的半主动控制理论,消耗机械臂振动的机械能,减小结构振动的位移幅度,从而达到振动控制的目的。

英文摘要：

The piezoelectric（PZT） elements feature the excellent electromechanical coupling characteristics,and now were widely used as sensors and actuators in the field of structural vibration control.This study adopts a passive piezoelectric shunt damp and a semi-active control of synchronous on-off damper to a smart manipulator mounted with piezoelectric ceramics for isolating vibration.The experiments show that the strategies reduce the structural vibration displacement amplitude,and consume the machinery energy of the manipulator effectively.