Constructing of simulation model of Parallel Mechanism with Vibration isolating structure

摘要

This paper presents the 6 DOF parallel mechanism simulator which consists of the electrode hydraulic actuators system, the vibration isolating structure and the moving platform.For describing the motion of 6 DOF parallel mechanism model, inverse kinematics of the 6 DOF parallel mechanism is performed. The electro servo valve is modeled as second order system on frequency response. The hydraulic actuator numerical modeling is performed based on basic principle. To consider the influence on motion of 6 DOF parallel mechanism model, the behavior of the vibration isolating structure by reaction force on 3 degrees of freedom are designed decoupled motion into each dimensional dynamic characteristics. The vibration isolating structure is subjected to multiple air springs.Multiple air springs is modeled second order system and parameter study is performed by system identification algorithm on frequency domain.