Abstract：A shaking table is an important facility for earthquake damage testing of large scale structures like high buildings, large bridges and infrastructural systems. To improve the payload capacity for the test for large-scale structures or real-scale structures, hydraulically redundant actuated parallel mechanisms are usually adopted. In the present paper, by exploring the interactions between the mechanical parts and the hydraulic actuated systems, an integrated model of hydraulically redundant actuated shaking table is obtained. Then, a framework of Degree-of-Freedom (DoF) control for the shaking table of this type is put forward. To regulate forces among the redundant actuated systems and to reduce force couplings, an inner force balancing control method based on pseudo-inverse of Jacobian matrix is also employed. Simulation validated the proposed DoF control and inner force balancing method.
2011, Vol. 30 
