Design and simulation of a kind of redundant actuation shaking table

This paper brought forward a novel shaking table actuated by servo motors. It adopted the redundant actuation parallel mechanism as the main structure. The kinematic characteristics were analyzed by aid of parallel mechanism type synthesis principles, which showed that it had six degree of freedoms. In order to verify the output motion characteristics, kinematic model of this redundant actuation shaking table was constructed and simulated. Some key problems including the manufacture of sphere joint, control system design and programming were also presented.