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Dynamic Analysis and Experiment of 6-DOF Compliant Platform Based on Bridge-Type Amplifier
Micromachines ( IF 3.4 ) Pub Date : 2020-11-23 , DOI: 10.3390/mi11111024
Chao Lin , Shan Zheng , Mingdong Jiang

In this paper, we establish a dynamic model of a six-degrees-of-freedom (6-DOF) compliant positioning platform based on bridge-type amplifiers. Based on the elastic beam theory and energy relationship, we derived the bridge-type amplifier’s dynamic model using the Lagrange equation. Then, we established a dynamic model of the compliant platform based on the equivalent mass and equivalent stiffness of the bridge-type amplifier, and the analysis formula of the natural frequency was derived. Finally, the analytical models of natural frequencies of the bridge-type amplifier and the compliant platforms were verified using the finite element analysis (FEA) method. Through modal experiments, the damping ratio and natural frequency were identified. Step response experiments in the X/Y direction and Z direction were performed. The phenomenon that the experimental results appeared to match the theoretical calculations indicates that the dynamic model was accurate.

中文翻译:

基于桥式放大器的六自由度兼容平台的动力学分析与实验

在本文中,我们建立了一个基于桥式放大器的六自由度(6-DOF)兼容定位平台的动态模型。基于弹性梁理论和能量关系,我们使用拉格朗日方程推导了桥式放大器的动态模型。然后,基于桥式放大器的等效质量和等效刚度,建立了柔顺平台的动力学模型,并推导了固有频率的分析公式。最后,使用有限元分析(FEA)方法验证了桥式放大器和兼容平台的固有频率分析模型。通过模态实验,确定了阻尼比和固有频率。进行了X / Y方向和Z方向的阶跃响应实验。
更新日期:2020-11-23
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