Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation
AbstractThis 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. View Full-Text
Share & Cite This Article
Chi, W.; Cao, D.; Wang, D.; Tang, J.; Nie, Y.; Huang, W. Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation. Energies 2015, 8, 8001-8019.
Chi W, Cao D, Wang D, Tang J, Nie Y, Huang W. Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation. Energies. 2015; 8(8):8001-8019.Chicago/Turabian Style
Chi, Weichao; Cao, Dengqing; Wang, Dongwei; Tang, Jie; Nie, Yifan; Huang, Wenhu. 2015. "Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation." Energies 8, no. 8: 8001-8019.