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| Micro-vibration active control for a Stewart platform with a cubic configuration |
| WANG Chaoxin1,2,LIU Xingtian3,ZHANG Zhiyi1,2 |
1.Institute of Vibration,Shock and Noise,Shanghai Jiao Tong University,Shanghai 200240,China;
2.State Key Laboratory of Mechanical Systems and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China; 3.Institute of Satellite Engineering in Shanghai,Shanghai,200240,China |
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Abstract A Stewart platform with a cubic configuration was developed having uniformity of stiffness and a control capability in all directions,and a simplified mechanical design.Its kinematic and dynamic analyses were conducted to obtain Jacobian matrix relating the extension of the piezo actuator to 6-DOF of the top plate and to reveal its characteristics of vibration transmissibility.Taking a piezoelectric stack as an active control element,the platform was designed.Tests were performed to measure the output characteristics of the active bar of the platform within the frequency band of 5 Hz to 120 Hz and Jacobian matrix obtained with theoretical analysis was modified with test data.Fx-LMS algorithm was adopted to actively suppress the foundation disturbances.The results showed that within the range of 5 Hz to 120 Hz,the platform is able to achieve 30 dB attenuation effect under a single frequency disturbance.
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Received: 23 July 2015
Published: 25 February 2017
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