期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/51312
语种：English
出版社：SAGE Publications
摘要：Six-dimensional broadband vibration isolation is necessary for precision manufacturing, testing and assembly. A six-dimensional nearly zero-stiffness mechanism based on singular parallel mechanisms was proposed, which was taken as the main structure of the vibration isolator to reduce the system’s natural frequency. Then control methods of configure maintenance and active vibration isolation were researched using feedback linearization and H∞ robust control means. Finally six-dimensional active and passive vibration isolation control simulations were carried out respectively. The simulation results show that the vibration isolator has higher six-dimensional broadband vibration isolation capability and feasibility.
关键词：Singular parallel mechanisms; six-dimensional hybrid broadband vibration isolation; H ∞ robust control
