Tags

Stewart Platforms, Vibration Isolation, Flexible Joints

Reference

^{(Wang {\it et al.}, 2016)}

Author(s)

Wang, C., Xie, X., Chen, Y., & Zhang, Z.

Year

2016

Model of the Stewart platform:

• Struts are treated as flexible beams
• Payload and the base are treated as flexible plates
• The FRF synthesis method permits to derive FRFs of the Stewart platform

The model is compared with a Finite Element model and is shown to give the same results. The proposed model is thus effective.

Control: Combines:

• the FxLMS-based adaptive inverse control => suppress transmission of periodic vibrations
• direct feedback of integrated forces => dampen vibration of inherent modes and thus reduce random vibrations

Force Feedback (Figure 2).

• the force sensor is mounted between the base and the strut

Sorts of HAC-LAC control:

• LAC: Decentralized integral force feedback
• HAC: Inertial control using accelerometers. Use of the Jacobian to decouple the motion and then Fx-LMS based adaptive control is used

Experimental validation:

• All 6 transfer function from actuator force to force sensors are almost the same (gain offset)
• Effectiveness of control methods are shown

Bibliography

Wang, C., Xie, X., Chen, Y., & Zhang, Z., Investigation on active vibration isolation of a stewart platform with piezoelectric actuators, Journal of Sound and Vibration, 383(), 1–19 (2016). http://dx.doi.org/10.1016/j.jsv.2016.07.021 ↩