Vibration isolation control performance for an innovative 3-DOF parallel stabilization platform

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.