| 大行程Hexapod平台及其隔振实验 |
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| 引用本文： | 崔龙,黄海.大行程Hexapod平台及其隔振实验[J].北京航空航天大学学报,2010,36(6):671-675. |
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| 作者姓名： | 崔龙 黄海 |
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| 作者单位： | 北京航空航天大学宇航学院,北京,100191;北京航空航天大学宇航学院,北京,100191 |
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| 摘 要： | 为提高车载、机载光学设备在低频大振幅扰动环境中的观测精度,研制了具有6自由度振动隔离能力的大行程主动隔振平台.平台主动元件采用直线电机,并针对隔振任务设计了无间隙万向节结构.隔振平台采用6-UPS并联机构Hexapod构型,具有30 kg承载能力,上平面可进行±30 mm平动和±8°转动.Hexapod平台控制方法采用PID(Proportion-Integral-Derivative)定位控制和X滤波自适应逆振动控制结合的方法.对Hexapod平台进行3～20 Hz垂直方向正弦振动隔离实验结果显示,平台对基座振动的振幅隔离幅度高于90%,对5～20 Hz频段随机振动隔离实验结果显示,隔振前后上平面振幅峰峰值下降78%.
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| 关 键 词： | 机构设计 振动控制 并联机构 自适应逆控制 |
| 收稿时间： | 2009-04-15 |
Large-stroke Hexapod platform and its vibration isolation test |
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| Cui Long,Huang Hai.Large-stroke Hexapod platform and its vibration isolation test[J].Journal of Beijing University of Aeronautics and Astronautics,2010,36(6):671-675. |
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| Authors: | Cui Long Huang Hai |
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| Institution: | Cui Long Huang Hai(School of Astronautics,Beijing University of Aeronautics and Astronautics,Beijing 100191,China) |
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| Abstract: | In order to improve observation precision of vehicular and airborne optical equipment,large-stroke 6 degree freedom active vibration isolation platform was designed.The actuator of Hexapod platform adopted linear motor,and to use in vibration isolation mission,gapless gimbal joint was designed.The platform adopted 6-UPS Stewart configuration,had 30 kg carrying capacity,and upper mounting plate had 30 mm translational and 8 rotational movement capability.Platform control system combined proportion integral-d... |
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| Keywords: | machine design vibration control parallel mechanism adaptive inverse control |
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