Analysis of Vibration Characteristics of Electro-hydraulic Driven 3-UPS/S Parallel Stabilization Platform

Abstract

With the development of fluid-power transmission and control technology, electro-hydraulic-driven technology can significantly improve the load-carrying capacity, stiffness, and control accuracy of stabilization platforms. However, compared with mechanically driven platforms, the stiffness and damping of the fluid, as well as the coupling effect between the fluid and the structure need to be considered for electro-hydraulic-driven parallel stabilization platforms, making the modal and dynamic response characteristics of the mechanism more complex. With the aim of solving the aforementioned issues, we research the electro-hydraulic driven 3-UPS/S parallel stabilization platform considering the hinge stiffness. Moreover, the characteristic vibration equation of the mechanism is established using the virtual work principle. Subsequently, the variation characteristics of the natural frequency and the vibration response according to the position of the mechanism are analyzed based on the dynamic equation. Finally, the correctness of the model is verified by a modal test and Runge-Kutta methods. This study provides a theoretical basis for the dynamic design of electrohydraulic-driven parallel mechanisms.