6-DEGREE-OF-FREEDOM ACTIVE VIBRATION ISOLATION USING A STEWART PLATFORM MECHANISM
6-DEGREE-OF-FREEDOM ACTIVE VIBRATION ISOLATION USING A STEWART PLATFORM MECHANISM
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DOI：
10.1002/rob.4620100510
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发表时间：
1993-07-01
期刊：
影响因子：
--
通讯作者：
HAYNES, LS
中科院分区：
文献类型：
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作者：
GENG, Z;HAYNES, LS
智能自动化公司开展了一项基于Stewart平台机构的六自由度(DOF)主动隔振系统的研究，该系统将用于广泛的天基结构和地面系统的精确控制。本文介绍了部分研究结果，包括一种新的Terfenol-D执行器的设计和分析，Stewart平台作为隔振装置的设计，以及用于振动主动控制的鲁棒自适应滤波算法。实现了六自由度主动隔振系统的样机硬件，并进行了测试。在实时实验中，减振效果约为30分贝。
Intelligent Automation, Inc. has performed a study of a six-degree-of-freedom (dof) active vibration isolation system based on a Stewart platform mechanism to be used for precision control of a wide range of space-based structures as well as earth-based systems. This article presents part of the study results, which includes a new Terfenol-D actuator design and analysis, a design of a Stewart platform as a vibration isolation device, and robust adaptive filter algorithms for active vibration control. Prototype hardware of a six-dof active vibration isolation system has been implemented and tested. About 30 dB of vibration attenuation is achieved in real-time experiments.