TY - JOUR
T1 - Vibration isolation control performance for an innovative 3-DOF parallel stabilization platform
AU - Jiang, Shuo
AU - Wang, Junzheng
AU - Wang, Shoukun
AU - Shen, Wei
N1 - Publisher Copyright:
© 2022, The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature.
PY - 2022/7
Y1 - 2022/7
N2 - High vibration isolation performance of stabilization platforms for challenging terrain is strongly demanded in many fields, including material transportation, marine operation and airborne filming. In this study, we propose a 3-DOF parallel stabilization platform which can offset disturbance in vertical and horizontal directions. First, the overall design idea is explained, including system prototype, mechanical optimization design, and motion modeling. Then a force-position composite control framework based on active compliance is considered for impact cushioning under high frequency disturbance. Besides, an adaptive compliance control law fused with environmental stiffness online estimation and reference trajectory correction is designed to realize vibration isolation under variable excitations. Finally, simulations and experimental demonstrations using the developed 3-DOF stabilization platform are carried out. High vibration isolation performance shows the feasibility and effectiveness of proposed adaptive active compliance control strategy, which provides further applicability in engineering.
AB - High vibration isolation performance of stabilization platforms for challenging terrain is strongly demanded in many fields, including material transportation, marine operation and airborne filming. In this study, we propose a 3-DOF parallel stabilization platform which can offset disturbance in vertical and horizontal directions. First, the overall design idea is explained, including system prototype, mechanical optimization design, and motion modeling. Then a force-position composite control framework based on active compliance is considered for impact cushioning under high frequency disturbance. Besides, an adaptive compliance control law fused with environmental stiffness online estimation and reference trajectory correction is designed to realize vibration isolation under variable excitations. Finally, simulations and experimental demonstrations using the developed 3-DOF stabilization platform are carried out. High vibration isolation performance shows the feasibility and effectiveness of proposed adaptive active compliance control strategy, which provides further applicability in engineering.
KW - 3-DOF stabilization platform
KW - Adaptive compliance control
KW - Parallel mechanism
KW - Vibration isolation performance
UR - http://www.scopus.com/inward/record.url?scp=85133234545&partnerID=8YFLogxK
U2 - 10.1007/s12206-022-0642-4
DO - 10.1007/s12206-022-0642-4
M3 - Article
AN - SCOPUS:85133234545
SN - 1738-494X
VL - 36
SP - 3677
EP - 3689
JO - Journal of Mechanical Science and Technology
JF - Journal of Mechanical Science and Technology
IS - 7
ER -