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Energies 2015, 8(8), 8001-8019; doi:10.3390/en8088001

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

School of Astronautics, Harbin Institute of Technology, PO Box 137, Harbin 150001, China
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Academic Editor: Paul D. Ronney
Received: 9 April 2015 / Revised: 7 July 2015 / Accepted: 20 July 2015 / Published: 31 July 2015
(This article belongs to the Special Issue Micro Combustor)
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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. View Full-Text
Keywords: vibration isolation; Stewart platform; VCM actuator; Newton-Euler Method; H control; sinusoidal sweeping analysis vibration isolation; Stewart platform; VCM actuator; Newton-Euler Method; H control; sinusoidal sweeping analysis
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

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.

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