| The vibration table is one of the most important test equipment in the research of the vibration engineering. Corresponding to the serial vibration table, the vibration table with parallel structure shows several advantages, such as, higher stiffness, better symmetry, higher velocity, better dynamics and compact structure. In this dissertation, control programming is presented to a new redundant activate parallel mechanism with 3-2-1 structure and studied in many fields, such as kinematics, dynamics, acceleration measuring of flatform, closed loop control system based on 6-axis acceleration sensor and so on.1. Based on the analysis of mechanism character, the software and hardware of control system are designed, including selection of drive pattern, design of hardware and software structure.2. A novel 6-axis acceleration sensor is presented using the modle of 6-axis force sensor and the theory of Newton's second law. The sensor gets fault signal of acceleration for gravitational acceleration, so two schemes are made to get rid of the disturbance of gravitational acceleration. And the simulation-graph is given finally.3. A formulation based on Newton-Euler equation is educed for the dynamic model of the 6-PSS parallel mechanism. The open-form and closed-form equations for the inverse dynamics of the holistic parallel mechanism were established. The driving force emulational curves for different curves translation proved the dynamic model proper. The dynamic model is the base of control.4. The half feedback control loop system is analysed detailedly. The whole electromechani- cal mathematical model is educed and the stability of the system is analysed. The parameters of position control are setted.5. Self-adaptive control system model of 6-axis vibration table is presented. Feedback control and feedforward control of 6-axis acceleration are both put in the closed loop to reduce the error of system and get rid of jitter of the platform.
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