Simulation and experimental analysis of the Stewart parallel mechanism for vibration control

This paper deals with the Stewart parallel mechanism for vibration control. The problem arises from a large radio telescope in which the astronomical equipment is mounted on a platform to be stabilized by adjusting six scalable actuators, while the base platform of the mechanism itself is carried by a vibrating cable-car that moves along flexible cables. The characteristic of the Stewart parallel mechanism in this application is that the two platforms are coupled. The Stewart platform has been modeled as a rigid multi-body system. A model with a scale of 5:1 has been implemented and tested. The control effects are evaluated by comparing the root-mean-square responses of the stabilized platform. The simulation and experiment results are given and in good qualitative agreement with each other. The system can reduce the vibration amplitude evidently. The feasibility of the full-scale model scheme has been proved.