Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation

作者：Chi Weichao; Cao Dengqing^*; Wang Dongwei; Tang Jie; Nie Yifan; Huang Wenhu

来源：Energies, 2015, 8(8): 8001-8019.

DOI：10.3390/en8088001

• vibration isolation
• Stewart platform
• VCM actuator
• Newton-Euler Method
• H control
• sinusoidal sweeping analysis

This paper presents the design and experimental study of a voice coil motor (VCM)-based Stewart platform used for active vibration isolation. The high precision payloads carried on the satellites always require an extremely stable environment to work properly. Installing a vibration isolation device between the vibration sources and precision payloads is an efficient method for dissipating vibration energy. A Stewart platform with active damping is designed to isolate the vibration transferring from the satellite to the payloads in six degrees-of-freedom. First, the kinematics and dynamical equations of a Stewart platform with spherical joints at both the base and top of each leg are established with Newton-Euler Method in task space and joint space. Second, the H Control Theory is employed to design a robust controller for the linearized system with parameter uncertainty, noise and sensor errors. Finally, an experimentation study on the vibration of the payload supported by a Stewart platform with VCM actuator is conducted. The feasibility and effectiveness of the vibration isolation system are verified by comparing the amplitude-frequency characteristics of the active control system with that of the passive control system and the system without damping.

• 出版日期2015-8
• 单位哈尔滨工业大学