Parallel six-dimensional shaking table Design and Research

Shaker system is simulated flight simulation systems, earthquake engineering research, and wave power systems, etc. One of the important test equipment, more conventional analog vibration table branched redundant hydraulic drive, to improve system drive capability and capacity, which kind of drive also brings huge equipment, use of the environment is limited, high cost, pollution, high maintenance cost and difficult to control and other issues. This paper analyzes the current technical shortcomings simulation shaking table, based on the proposed species based on a redundant fault-tolerant multi-motor drive six-dimensional driving simulator to institutions, kinematics, dynamics of fuzzy reliability theory as a tool, six degrees of freedom for parallel earthquake simulation shaking table were studied. Main tasks are: (a) cause the device for hydraulic drive bulky, high cost, limited use of the environment, high cost, pollution, high maintenance cost and difficult to control and other issues, proposes a servo motor as a driving source redundancy I fault tolerant modules, build the module kinematics model and found that the driver module has an ideal redundant fault-tolerant features, suitable for analog drives. (2) Summary shaker applications in the background, based on the design of parallel mechanisms shaking table basic configuration, which is characterized by: working platform with six-dimensional space of freedom of movement, and has a strong bearing capacity and drive capability. Redundant drive module used in the basic configuration of this type of design of many different types of multi-simulator servo motor driving vibration, the vibration simulations to meet the massive development trend. (3) Application DH method to establish a six-dimensional kinematic model of vibration simulator given position, velocity and acceleration of the derivation of the formula, and use ADAMS software simulation, kinematic results obtained. (4) Application of Lagrange equation method to establish a vibration table branched kinetic equations, and further derive kinetic equations of the system, and gives the dynamics based on ADAMS software simulation results validate the dynamic model correctness. (5) for the machine using ANSYS modal analysis, given the moving platform in a different dimension driving force of the dynamic characteristics curves and natural frequency and vibration characteristics described for the earthquake simulator performance analysis, control system design, etc. Subsequent work has laid a foundation. (6) the kinematic model based on the vibration table gives the derivation of motion accuracy and precision movement derived branched fuzzy reliability formulas.