Research Of A Vibration Isolation Platform Based On5-DOF Parallel Mechanism

As we all know, more and more precise instruments are installed on mobilecarriers, and multidimensional vibrations like pitching, rising and falling will arise outof the mobile carriers because of the environment, which will make the instrumentsout of order or even be destroyed. Hence it is very important to suppress thesevibrations by an appropriate method. There four mainly method of suppressing thesevibrations which are passive vibration isolation, semi-active vibration isolation, activevibration isolation and mix vibration isolation by the above three. This paper ismainly focused on the active vibration isolation. So there are four parts in this paper:Firstly, a novel5degree-of-freedom parallel mechanism is proposed as vibrationisolator in this paper according to general characteristic of mobile carriers. In thispaper, the structure of the parallel mechanism is introduced, and the kinematic modeland dynamic model are deduced. And we get the relationship of the input force andoutput motion of platform.Secondly, a wide-range magnetostrictive actuator is designed. The actuatorincludes a magnetostrictive actuator and a micro-displacement amplifier. The designof magnetostrictive actuator is mainly about magnetostrictive rod, field coil, magneticcircuit and pre-compression device. The micro-displacement amplifier is a flexiblemechanism with principle of differential amplifier. And the dynamics of the actuatoris deduced.Thirdly, the control method the vibration isolator system is designed. Accordingto the dynamics of actuators the control method of every single actuator is designedwith PID controller. And the controller of the vibration isolator is also PID controllerthrough the dynamics of vibration isolator. The system is simulated in Simulinksoftware. The results show that the system is correct to suppress multi-dimensionalvibration.Lastly, an optimization of the whole system is done in this paper. The stiffness ofthe isolator is optimized to bigger in order to make the isolator better to vibrationisolation. And the parameters of PID controller are also optimized to perfect thevibration isolation system.