Abstract
A micro-vibration shaking platform is required for performance testing of sensitive instruments in a micro-vibration environment on-board spacecraft before launch. In this study, a parallel manipulator is designed, which can reproduce 6-DOF space micro-vibrations. The important parts of the manipulator are optimized. Controlling the parallel manipulator is based on transfer function. The control principle and the transfer function testing are introduced. Because of the small structural damping coefficient of the system, the transfer function is simplified from a complex matrix to real matrix. Since the parallel manipulator be-haves slightly nonlinearly, an iterative control strategy is used to approach the desired acceleration step by step. The results from micro-vibrations testing show that the parallel manipulator can simulate 6-DOF space micro-vibrations and the iterative control strategy has better precision for the micro-vibrations control.
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Acknowledgments
This work was supported by the National Natural Science Foundation of China under Grant no. 11672290, the Jilin Scientific and Technological Development Program under Grant no. 20160520074JH, and the Youth Innovation Promotion Association, Chinese Academy of Sciences under Grant no. 2014195.
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He, S., Xu, Z., Wang, X., Li, A., Huo, Q. (2017). Design and Testing of a Parallel Manipulator for Space Micro-vibration Simulation. In: Gao, Y., Fallah, S., Jin, Y., Lekakou, C. (eds) Towards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science(), vol 10454. Springer, Cham. https://doi.org/10.1007/978-3-319-64107-2_8
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DOI: https://doi.org/10.1007/978-3-319-64107-2_8
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