Six degree-of-freedom active vibration control using the Stewart platforms

Abstract

Multiple degree-of-freedom (DOF) vibration control systems are essential for precision control of a wide range of Space-borne structures as well as earth-based systems. This paper studies the design and control problems of a class of multiple DOF vibration isolation systems using the concept of a Stewart truss and Stewart platform mechanism. A novel geometric arrangement of a Stewart platform, called the "cubic configuration" is developed and used. A new design and analysis of actuators employing magnetostrictive material Terfenol-D is presented. Robust adaptive filter algorithms for active vibration control are formulated. Prototype hardware for a six degree-of-freedom active vibration isolation system with the "cubic configuration" of the Stewart platform has been implemented and tested. About 30 dB of vibration attenuation is achieved in real-time experiments.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>