Natural frequency of hydraulic stewart platform using in spacecraft docking mechanism test system

Xiao Lin Dai; Jing Feng He; Jun Wei Han; Hong Ren Li

Natural frequency of hydraulic stewart platform using in spacecraft docking mechanism test system

Xiao Lin Dai
, Jing Feng He
, Jun Wei Han
, Hong Ren Li

School of Mechatronics Engineering, Harbin Institute of Technology

科研成果: 期刊稿件 › 文章 › 同行评审

3 引用（Scopus）

摘要

The multi-rigid body dynamic model of the hydraulic Stewart platform was presented through Kane formulation, and the general mass matrix of the platform was proposed, and then the general stiff matrix of the system was obtained by regarding hydraulic actuator as hydraulic spring. The natural frequency formulation of the platform was derived and this formulation was proved to be validated. The natural frequency formulation was applied to compute and analyze the Stewart platform in spacecraft docking mechanism test system, providing a basis for the synthesis and debugging of the platform's controller.

源语言	英语
页（从-至）	308-313
页数	6
期刊	Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition)
卷	39
期	SUPPL. 1
出版状态	已出版 - 3月 2009
已对外发布	是

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abstract = "The multi-rigid body dynamic model of the hydraulic Stewart platform was presented through Kane formulation, and the general mass matrix of the platform was proposed, and then the general stiff matrix of the system was obtained by regarding hydraulic actuator as hydraulic spring. The natural frequency formulation of the platform was derived and this formulation was proved to be validated. The natural frequency formulation was applied to compute and analyze the Stewart platform in spacecraft docking mechanism test system, providing a basis for the synthesis and debugging of the platform's controller.",

keywords = "Automatic control technology, Hydraulic Stewart platform, Kane formulation, Multi-rigid body dynamic model, Natural frequency",

author = "Dai, \{Xiao Lin\} and He, \{Jing Feng\} and Han, \{Jun Wei\} and Li, \{Hong Ren\}",

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AU - Dai, Xiao Lin

AU - He, Jing Feng

AU - Han, Jun Wei

AU - Li, Hong Ren

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N2 - The multi-rigid body dynamic model of the hydraulic Stewart platform was presented through Kane formulation, and the general mass matrix of the platform was proposed, and then the general stiff matrix of the system was obtained by regarding hydraulic actuator as hydraulic spring. The natural frequency formulation of the platform was derived and this formulation was proved to be validated. The natural frequency formulation was applied to compute and analyze the Stewart platform in spacecraft docking mechanism test system, providing a basis for the synthesis and debugging of the platform's controller.

AB - The multi-rigid body dynamic model of the hydraulic Stewart platform was presented through Kane formulation, and the general mass matrix of the platform was proposed, and then the general stiff matrix of the system was obtained by regarding hydraulic actuator as hydraulic spring. The natural frequency formulation of the platform was derived and this formulation was proved to be validated. The natural frequency formulation was applied to compute and analyze the Stewart platform in spacecraft docking mechanism test system, providing a basis for the synthesis and debugging of the platform's controller.

KW - Automatic control technology

KW - Hydraulic Stewart platform

KW - Kane formulation

KW - Multi-rigid body dynamic model

KW - Natural frequency

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JO - Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition)

JF - Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition)

IS - SUPPL. 1

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Natural frequency of hydraulic stewart platform using in spacecraft docking mechanism test system

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