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

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Abstract

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.

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Abbreviations

DOF :

Degree of freedom

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Acknowledgments

This work was supported by the National Natural Science Foundation of China (No. 61773060 and No. 51675041).

We are sincerely grateful for the support.

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Authors and Affiliations

  1. Key Laboratory Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, Beijing, 100081, China

    Shuo Jiang, Junzheng Wang, Shoukun Wang & Wei Shen

  2. Key Laboratory of Intelligent Control and Decision for Complex Systems, Beijing Institute of Technology, Beijing, 100081, China

    Shuo Jiang, Junzheng Wang, Shoukun Wang & Wei Shen

Authors
  1. Shuo Jiang
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  2. Junzheng Wang
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  3. Shoukun Wang
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  4. Wei Shen
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Corresponding author

Correspondence to Shuo Jiang.

Additional information

Shuo Jiang received his B.S. in Beijing Institute of Technology, Beijing, China in 2019. He is pursuing a Master degree as a Member of State Key Laboratory of Intelligent Control and Decision of Complex Systems, Department of Automation, Beijing Institute of Technology, Beijing, China. His research interests mainly include robotics motion and vibration control, embedded system control.

Junzheng Wang received his Ph.D. degree in Control Science and Engineering from Beijing Institute of Technology, Beijing, China in 1994. He is the Deputy Director with the Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology where he is a Professor and a Ph.D. Supervisor. His current research interests include servo motion drive and control, autonomous motion control of wheel-legged robots.

Shoukun Wang received the B.S., M.S., and Ph.D. degrees in Department of Automation from Beijing Institute of Technology, Beijing, China, in 1999, 2002, 2004, respectively. He has been teaching at the School of Automation, Beijing Institute of Technology, since 2004. His research interests include electrohydraulic robotics control, sensor and measurement.

Wei Shen received the B.S., and Ph.D. degrees in Department of Automation from Beijing Institute of Technology, Beijing, China, in 2002, 2007, respectively. He has been teaching at the School of Automation, Beijing Institute of Technology, since 2007. His research interests include servo drive of PMSM, embedded system control, robotics motion control.

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Jiang, S., Wang, J., Wang, S. et al. Vibration isolation control performance for an innovative 3-DOF parallel stabilization platform. J Mech Sci Technol 36, 3677–3689 (2022). https://doi.org/10.1007/s12206-022-0642-4

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  • DOI: https://doi.org/10.1007/s12206-022-0642-4

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