The Study On Vibration Modeling Methods Of A Five-dimensional Hybrid Vibration Isolation Platform With Position-orientation Decoupling

For the most machines and structrues, vibration has brought some adverse effects. The research of vibration isolation technology has become one of the major topic of modern engineering technology, and it is of great practical significance. The parallel mechanism has been used for the design of vibration isolation platform, which has become the research focus in recent years. With vibration isolation systems becoming more and more complex and the scale of the vibration model becoming more and more big, the study on vibration modeling of vibration isolation platform has becoming the key. In this thesis, a study on vibration modeling methods has been made. It focus on a five-dimensional hybrid vibration isolation platform with position-orientation decoupling made by Harbin Institute of Technology, whose analysis method and conclusion have provided the necessary theoretical basis for the precise design of vibration isolation and vibration isolation effect analysis.The basic kinematic chain composition of the five-dimensional hybrid vibration isolation platform has been analyzed, and also the degree of freedom and decoupling through the POC Theory( Position and Orientation Charateristics Theory). The inverse kinematic model of parallel mechanism has been built by the method of vector loop, and the kinematic inverse jacobin matrix has been deduced.Considering the flexibility of joints, and changing the space into a single direction multi-degree of freedom vibration system through rotation matrix, which have contributed to establish the vibration model of the vibration isolation platform by principle of virtual work. Then modal analysis on it has been done, and dynamic simulation and finite element analysis by ANSYS software have been made. The simulation results have been compared with the theoretical calculation values to verify the correctness of the proposed vibration modeling method, and the vibration characteristics of vibration isolation platform under different positions and orientations has been studied.In ADAMS environment, the topological structure has been analyzed. Dynamics modeling has been done based on constraint topology transformation of the vibration isolation platform. It has been studied that the vibration characteristics of the vibration isolation platform. It has been compared with the theoretical calculation results in the previous chapter to verify the feasibility of this method.