关键词: 并联机构, 跟瞄平台, ADC方法, 振动控制, 复合作动器

Abstract:

Hexapod is effective for vibration isolation and precision pointing of a space-based optical apparatus. With the dual-driving hybrid actuators developed by us, a Hexapod's optimal configuration is designed, its joints are manufactured and a high stabilization precision point-tracking Hexapod prototype is assembled. The Hexapod's linear dynamic model is established with Newton-Euler method. Using the improved adaptive disturbance canceller (ADC) method, simulation and experiment of Hexapod active vibration isolation are carried out. Simulation results show that the Hexapod's bottom double-frequency micro-vibration is isolated. In experiment, the Hexapod is located in a horizontal position and a 5° incline position, respectively, and the vibration on each strut is decreased by about 90% in both cases. The study indicates the feasibility of the Hexapod for active vibration isolation, the credibility of the Hexapod's dynamic model, and the rationality of the improved ADC method.

Key words: parallel mechanism, pointing and tracking platform, ADC method, vibration control, hybrid actuator