Modeling and control of a Stewart platform based six-axis hybrid vibration isolation system

In this paper, a 6-axis hybrid vibration isolation system based on a cubic configuration of Stewart platform is explored and the dynamic model of the developed 6-axis hybrid vibration isolation platform, in which both the displacement excitations on the lower platform and the force excitations due to payloads on the upper platform are simultaneously considered, is established based on the Newton-Euler approach. Based on the dynamic model introduced in this paper, a force feedback control principle to isolate the displacement vibrations on the lower platform is proposed and analyzed. According to the developed dynamic model and control method, the numerical simulation results on the vibration isolation characteristics of the developed six-DOF hybrid vibration isolation platform in frequency domain are presented.