The stability analysis of the Gough-Stewart parallel mechanism on vibration control

This paper studies the stability of the Gough-Stewart parallel mechanism on vibration isolation. The problem comes from a large radio telescope in which the astronomical equipment is mounted on a feed stabilized platform to be stabilized by adjusting six 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 control law of the system is presented and a mathematical model is established. The stability of the system is analyzed based on the mathematical model. The results show the relations between the stability of the system and the property of the Stewart platform, such as the mass and the radius of the base platform.