Design And Research Of Six Degree Of Freedom Vibration Absorber Based On Parallel Mechanism

With the development of science and technology, multi-DIM vibration has been the main reason that influences the performance and operating life of mechanical devices, precise instruments, equipment of vehicles and ships, aerospace equipment and so on. So multi-DIM vibration is a puzzle that needs solving at home and abroad, and there is actual meaning to put multi-DIM vibration absorber into effect.Supported by the National Science Foundation project—systematic theory of design and nonlinear decoupling control of multi-DIM vibration absorber imitating rubber(50375067), this paper firstly presents that 6-DOF parallel mechanisms are used as the main mechanism of six-DIM vibration absorber, associating elastic damping system at the primary component of mechanism. So energy absorption and power adaptive balance can be realized, consequently multi-DIM vibration absorption are realized. Firstly, Based on the basic theory of topology structure type synthesis of parallel mechanism, the configurations of 6-DOF parallel mechanism are synthesized, and more than a hundred types of parallel mechanisms that can be used as vibration absorbers are obtained, then three kind of mechanisms are initially selected according to the principles of selecting parallel mechanism as the main mechanism of vibration absorber, comparing them at the aspects of coupling and vibration absorption, the best one is selected as the main mechanism of 6-DIM vibration absorber.Secondly, this paper does the kinematics and dynamics analyses of the selected one. Kinematics analysis includes analyzing of forward and inverse position, velocity, acceleration, workspace and so on. The forward and inverse position analyses are done with coordinates transition methods of mechanism maths, and the calculation is done by programming with MATLAB to verify forward and inverse position analyses. Analyses of velocity and acceleration are done using influence coefficient method. The workspace is searched with MATLAB program in right-angle coordinate space. This paper also does the dynamics analysis wiry Kane method, which mainly studies the driving forces for balance of every branch. Besides, virtual prototype of selected parallel mechanism is founded and simulations of kinematics,dynamics are done.Finally, the selected mechanism is manufactured and tested it in the lab. The results of test and simulation prove that this device has good property of vibration absorbing and can be widely used in many fields. In a word, the multi-DIM vibration absorber system basing on parallel mechanism is a new idea and breakthrough in multi-DIM vibration absorption field, which has the characteristic of simple structure, compact mechanism, high accuracy, partially or fully decoupled mechanism easy for control and so on. Therefore, this kind of multi-DIM vibration absorber system can be hopefully used in many fields.