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

Weichao Chi, Dengqing Cao, Dongwei Wang, Jie Tang, Yifan Nie and Wenhu Huang
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Weichao Chi: School of Astronautics, Harbin Institute of Technology, PO Box 137, Harbin 150001, China
Dengqing Cao: School of Astronautics, Harbin Institute of Technology, PO Box 137, Harbin 150001, China
Dongwei Wang: School of Astronautics, Harbin Institute of Technology, PO Box 137, Harbin 150001, China
Jie Tang: School of Astronautics, Harbin Institute of Technology, PO Box 137, Harbin 150001, China
Yifan Nie: School of Astronautics, Harbin Institute of Technology, PO Box 137, Harbin 150001, China
Wenhu Huang: School of Astronautics, Harbin Institute of Technology, PO Box 137, Harbin 150001, China

Energies, 2015, vol. 8, issue 8, 1-19

Abstract: 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.

Keywords: vibration isolation; Stewart platform; VCM actuator; Newton-Euler Method; H ? control; sinusoidal sweeping analysis (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2015
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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