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

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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)

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.

Suggested Citation

  • Weichao Chi & Dengqing Cao & Dongwei Wang & Jie Tang & Yifan Nie & Wenhu Huang, 2015. "Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation," Energies, MDPI, vol. 8(8), pages 1-19, July.
    • Handle: RePEc:gam:jeners:v:8:y:2015:i:8:p:8001-8019:d:53572
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    Cited by:

    1. Chan-Jung Kim, 2018. "Design Criterion of Damper Component of Passive-Type Mount Module without Using Base Mass-Block," Energies, MDPI, vol. 11(6), pages 1-13, June.

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