Volume 39, Number 2, April 2021
|Page(s)||258 - 266|
|Published online||09 June 2021|
Dynamics and control of a bio-inspired Stewart platform
School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China
2 National Key Laboratory of Aerospace Flight Dynamics, Xi'an 710072, China
3 Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, China
Collision and strong impacts take place in mission of the on orbit capture of non-cooperative spacecraft. So, it is necessary to design a vibration isolation system with efficient vibration isolation performance. A Stewart vibration isolation platform based on the bio-inspired isolation system is proposed in this paper. The characteristics of the novel bio-inspired Stewart platform realizes the vibration isolation protection of the serving spacecraft during the capture mission. The dynamic model of the vibration isolation platform is established by Lagrange's equations. The fidelity of the established dynamic model is verified via a comparison of the theoretical simulation and the ADAMS simulation. Comparisons between the presently proposed vibration isolation platform and the traditional spring-mass-damper type Stewart vibration isolation platform demonstrates the advantages of the present platform. The effects of system parameters on the isolation performance of the present platform are thoroughly investigated. The feedback linearization control method is used to control the present platform which overcomes the drift motion that occurs in the passive isolation case. The results show that the novel bio-inspired Stewart platform has excellent vibration isolation performance, which provides a promising way for the vibration isolation of the non-orbit capture mission.
Key words: bio-inspired isolation system / non-cooperative target compliant capture / active-passive vibration isolation / Stewart platform / dynamics / ADAMS / simulation / feedback linearization
关键字 : 仿生抗冲击结构 / 非合作目标柔顺抓捕 / 主被动隔振 / Stewart平台 / 动力学 / ADAMS / 仿真 / 反馈线性化
© 2021 Journal of Northwestern Polytechnical University. All rights reserved.
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