Design And Study On 6-DOF Redundant Parallel Earthquake Simulation Vibration Table

Vibration table system is one of the important test equipment for flight simulation system, earthquake engineering research, and wave power system. The previous shaking table always used hydraulic drive with redundant branched-chain, which is to improve drive capacity and carrying capacity. But hydraulic drive brought the affect of huge equipment, use of the environment is limited, high cost, pollution, high maintenance costs, and difficult to control and other issues.Based on the technical shortcomings, we propose a redundancy-based fault-tolerant multi-motor drive six-dimensional drive simulator in this thesis, and do research on the 6-DOF parallel shaking table, which related to kinematics, dynamics, fuzzy reliability theory, were studied. The main tasks are as follows.1. Based on the shortcomings of the hydraulic drive, a servo-motor driven source of redundant fault-tolerant modules is presented, kinematic model of the module is established, the module is suitable for driving as the redundant fault-tolerant feature of the driver module is found.2. Based on summarizing of the application background of vibration table, we design basic configuration of parallel mechanism, which is characterized as follows:working platform with six-dimensional space freedom of movement, and has a strong bearing capacity and drive capability. The redundant fault-tolerant driver modules are used in this basic configuration, and a variety of different types of multi-servo-motor drive vibration simulators are designed in order to meet the huge vibration simulations of trends. 3. With D-H method to establish kinematic model of simulator, we give derivation formula of vibration's position, velocity and acceleration, and obtain kinematics results with ADAMS software simulation.4. With Lagrange equation method, we establish dynamic equations of branched-chain, and further derive the dynamic equations of the system, and give dynamic simulation results based on the ADAMS software.5. Do modal analysis with software ANSYS. The dynamic analysis lay the foundation for following design, control and manufacturing.6. Based on the kinematic model of shaking table, we give the derivation of motion accuracy and the fuzzy reliability formulas of branched-chain movement.