Skip to main content
SpringerLink
Log in

Design and Testing of a Parallel Manipulator for Space Micro-vibration Simulation

  • Conference paper
  • First Online:
Towards Autonomous Robotic Systems (TAROS 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10454))

Included in the following conference series:

  • 3131 Accesses

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.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Laskin, R.A., Martin, M.S.: Control/structure system design of a spaceborne optical interferometer. In: Proceedings of the AAS/AIAA Astrodynamics Specialist Conference, pp. 369–395 (1989)

    Google Scholar 

  2. Kamesh, D., Pandiyan, R., Ghosal, A.: Passive vibration isolation of reaction wheel disturbances using a low frequency flexible space platform. J. Sound Vib. 331, 1310–1330 (2012)

    Google Scholar 

  3. Zhou, W.Y., Li, D.X., Luo, Q., Jiang, J.P.: Design and test of a soft suspension system for cantilevered momentum wheel assembly. J. Aerosp. Eng. 227(7), 1144–1160 (2012). doi:10.1177/0954410012451415

  4. Zhou, W.Y., Li, D.X.: Experimental research on a vibration isolation platform for momentum wheel assembly. J. Sound Vib. 332(5), 1157–1171 (2013)

    Google Scholar 

  5. Park, G., Lee, D.O., Han, J.H.: Development of multi-DOF active microvibration emula-tor. In: ASME Conference on Smart Materials, pp. 477–483 (2012)

    Google Scholar 

  6. Park, G., Lee, D.O., Han, J.H.: Development of multi-degree-of-freedom microvibration emulator for efficient Jitter test of spacecraft. J. Intell. Mater. Syst. Struct. 25(9), 1069–1081 (2014)

    Article  Google Scholar 

  7. Vose, T.H., Umbanhowar, P., Lynch, K.M.: Friction-induced velocity fields for point parts sliding on a rigid oscillated plate. Int. J. Manipulatorics Res. 28(8), 1020–1039

    Google Scholar 

  8. Vose, T.H., Turpin, M.H., Dames, P.M.: Modeling, design, and control of 6-DOF flexure-based parallel mechanisms for vibratory manipulation. Mech. Mach. Theor. 64, 111–130 (2013)

    Article  Google Scholar 

  9. Paccot, F., Andreff, N., Martinet, P.: A review on the dynamic control of parallel kinematic machines: theory and experiments. Int. J. Manipulatorics Res. 28(3), 395–416 (2009)

    Google Scholar 

  10. Kim, H.S., Cho, Y.M., Lee, K.: Robust nonlinear task space control for 6 DOF parallel manipulator. Automatica 41(9), 1591–1600 (2005)

    Article  MathSciNet  MATH  Google Scholar 

  11. Yang, C.F., Huang, Q.T., Han, J.W.: Computed force and velocity control for spatial multi-DOF electro-hydraulic parallel manipulator. Mechatronics 22, 715–722 (2012)

    Article  Google Scholar 

  12. Stehman, M., Nakata, N.: Direct acceleration feedback control of shake tables with force stabilizaiton. J. Earthq. Eng. 17, 736–749 (2013)

    Google Scholar 

  13. Nakata, N.: Acceleration trajectory tracking control for earthquake simulators. Eng. Struct. 32(8), 2229–2236 (2005)

    Article  Google Scholar 

  14. Yang, J.F., Xu, Z.B., Wu, Q.W., Zhu, M.C., He, S., Qin, C.: Dynamic modeling and control of a 6-DOF micro-vibration simulator. Mech. Mach. Theor. 104, 350C369

    Google Scholar 

  15. Xin, J.: Optimization design of space multi-dimensional micro-vibration simulator based on six dimensional parallel mechianism. M.D thesis, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences (2015). (Chinese)

    Google Scholar 

  16. Li, Z.F., Ren, W.J., Wang, A.P.: Study on acceleration measurement in space high quality microgravity active vibration isolation system. J. Vib. Shock 29(12), 211–215 (2010). (Chinese)

    Google Scholar 

Download references

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.

Author information

Authors and Affiliations

  1. Innovation Lab of Space Robot System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, No. 3888 Dong Nanhu Road, Changchun, 130033, China

    Shuai He, Zhenbang Xu, Xiaoming Wang, Ang Li & Qi Huo

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    Shuai He, Zhenbang Xu, Xiaoming Wang, Ang Li & Qi Huo

Authors
  1. Shuai He
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhenbang Xu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Xiaoming Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Ang Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Qi Huo
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Zhenbang Xu .

Editor information

Editors and Affiliations

  1. University of Surrey, Guildford, United Kingdom

    Yang Gao

  2. University of Surrey, Guildford, United Kingdom

    Saber Fallah

  3. University of Surrey, Guildford, United Kingdom

    Yaochu Jin

  4. University of Surrey, Guildford, United Kingdom

    Constantina Lekakou

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

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

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-64107-2_8

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-64106-5

  • Online ISBN: 978-3-319-64107-2

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation