Kinematics and Stiffness Characteristics of Orientation Adjustment and Vibration Isolation Platform with Active-passive Closed-loop Fusion
Geng Mingchao
Li Erwei
Li Yanan
Ma Hong
Wang Zhanying
Li Xin
Abstract：A new configuration of multi-dimensional platform is proposed to meet the dual requirements of orientation adjustment and vibration isolation.In the branch,the active orientation adjustment and passive vibration isolation units are fused in the form of closed-loop subchain.In the case of passive vibration isolation,suppose that the electric cylinder is locked instantaneously.The equivalent motion screw is used to describe the motion characteristics of the closed-loop subchain,and the branch containing the closed-loop subchain is equivalent to the series branch.Based on this,the first and second order influence coefficients of the mechanism are derived,which are concise and compact,and lay a foundation for the establishment of the motion differential equation and the analysis of the vibration characteristics of the mechanism.Based on the virtual work principle,the complete flexibility matrix and the directional stiffness model,which considers the gravity,external force and the changing trend of poses,are derived.The expression of the directional stiffness in different coordinate systems is analyzed by numerical examples,which provides reference for the performance analysis of the mechanism.
Keywords：Orientation adjustment and vibration isolationParallel mechanismScrewKinematicsStiffness
Publication Date：2024-06-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：7( 22-28 )