基于奇异并联机构的六维混合宽频隔振

基于奇异并联机构提出一种具有近零刚度特性的六维隔振主体机构,以大幅降低系统固有频率,然后利用反馈线性化、H∞鲁棒控制方法研究了位形保持及主动隔振算法,最后进行了六维主、被动隔振仿真,结果表明采用该控制方法能够以较小的驱动力、较高的鲁棒性实现位形保持及低频主动隔振,而保持在奇异位形附近的系统也具有更高的低频被动隔振能力,进而提高了六维宽频隔振的效能。该成果可为六维宽频隔振问题的研究提供参考。

Six-DOF Hybrid Broadband Vibration Isolation Based on Singular Parallel Mechanisms

A six-DOF nearly zero-stiffness mechanism based on the singular parallel mechanisms was proposed,which was taken as the main body of the vibration isolator to reduce system natural frequency.And then control methods of configuration maintenance and active vibration isolation were researched using feedback linearization and H∞ robust control means.Finally,six-DOF active and passive vibration isolation control simulations were carried out respectively.The simulation results show that using the control methods proposed here can not only ensure mechanism configuration maintenance but also effectively realize low-frequency vibration isolation with optimal drive force and higher robustness,and the passive part of the vibration isolator can better achieve lower frequency vibration isolation,and so the six-DOF broadband vibration isolation capability is greatly enhanced.The research achievements can provide a reference for the solution to six-DOF broadband vibration isolation.