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Thomas Dehaeze
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content/article/spanos95_soft_activ_vibrat_isolat.md
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title = "A soft 6-axis active vibration isolator"
author = ["Thomas Dehaeze"]
author = ["Dehaeze Thomas"]
draft = false
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Tags
: [Stewart Platforms]({{< relref "stewart_platforms" >}}), [Vibration Isolation]({{< relref "vibration_isolation" >}})
: [Stewart Platforms]({{< relref "stewart_platforms.md" >}}), [Vibration Isolation]({{< relref "vibration_isolation.md" >}})
Reference
: ([Spanos, Rahman, and Blackwood 1995](#org2800cc5))
: (<a href="#citeproc_bib_item_1">Spanos, Rahman, and Blackwood 1995</a>)
Author(s)
: Spanos, J., Rahman, Z., & Blackwood, G.
: Spanos, J., Rahman, Z., &amp; Blackwood, G.
Year
: 1995
**Stewart Platform** (Figure [1](#orgcac471d)):
**Stewart Platform** (Figure [1](#figure--fig:spanos95-stewart-platform)):
- Voice Coil
- Flexible joints (cross-blades)
- Force Sensors
- Cubic Configuration
<a id="orgcac471d"></a>
<a id="figure--fig:spanos95-stewart-platform"></a>
{{< figure src="/ox-hugo/spanos95_stewart_platform.png" caption="Figure 1: Stewart Platform" >}}
{{< figure src="/ox-hugo/spanos95_stewart_platform.png" caption="<span class=\"figure-number\">Figure 1: </span>Stewart Platform" >}}
Total mass of the paylaod: 30kg
Center of gravity is 9cm above the geometry center of the mount (cube's center?).
@@ -41,9 +41,9 @@ After redesign of the struts:
- low frequency zero at 2.6Hz but non-minimum phase (not explained).
Small viscous damping material in the cross blade flexures made the zero minimum phase again.
<a id="org5cb89c4"></a>
<a id="figure--fig:spanos95-iff-plant"></a>
{{< figure src="/ox-hugo/spanos95_iff_plant.png" caption="Figure 2: Experimentally measured transfer function from voice coil drive voltage to collocated load cell output voltage" >}}
{{< figure src="/ox-hugo/spanos95_iff_plant.png" caption="<span class=\"figure-number\">Figure 2: </span>Experimentally measured transfer function from voice coil drive voltage to collocated load cell output voltage" >}}
The controller used consisted of:
@@ -52,14 +52,15 @@ The controller used consisted of:
- first order lag filter to provide adequate phase margin at the low frequency crossover
- a first order high pass filter to attenuate the excess gain resulting from the low frequency zero
The results in terms of transmissibility are shown in Figure [3](#orgd8726b9).
The results in terms of transmissibility are shown in Figure [3](#figure--fig:spanos95-results).
<a id="orgd8726b9"></a>
{{< figure src="/ox-hugo/spanos95_results.png" caption="Figure 3: Experimentally measured Frobenius norm of the 6-axis transmissibility" >}}
<a id="figure--fig:spanos95-results"></a>
{{< figure src="/ox-hugo/spanos95_results.png" caption="<span class=\"figure-number\">Figure 3: </span>Experimentally measured Frobenius norm of the 6-axis transmissibility" >}}
## Bibliography {#bibliography}
<a id="org2800cc5"></a>Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In _Proceedings of 1995 American Control Conference - ACC’95_, nil. <https://doi.org/10.1109/acc.1995.529280>.
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
<div class="csl-entry"><a id="citeproc_bib_item_1"></a>Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In <i>Proceedings of 1995 American Control Conference - Acc’95</i>, nil. doi:<a href="https://doi.org/10.1109/acc.1995.529280">10.1109/acc.1995.529280</a>.</div>
</div>