Parametric Vibration Analysis of a Six-Degree-of-Freedom Electro-Hydraulic Stewart Platform
Electro-hydraulic Stewart 6-DOF platform is a 6-DOF parallel mechanism combined with the electro-hydraulic servo control system, which is widely used in the field of construction machinery. In actual working conditions, the flow and pressure pulsation of the hydraulic oil output from the hydraulic l...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2021/9994786 |
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| _version_ | 1849692559248457728 |
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| author | Xiaoming Yuan Yue Tang Weiqi Wang Lijie Zhang |
| author_facet | Xiaoming Yuan Yue Tang Weiqi Wang Lijie Zhang |
| author_sort | Xiaoming Yuan |
| collection | DOAJ |
| description | Electro-hydraulic Stewart 6-DOF platform is a 6-DOF parallel mechanism combined with the electro-hydraulic servo control system, which is widely used in the field of construction machinery. In actual working conditions, the flow and pressure pulsation of the hydraulic oil output from the hydraulic leg of the electro-hydraulic Stewart platform are inevitable, so the equivalent stiffness of the platform leg will change, and the stiffness parameters of the transmission system will change, resulting in vibration, which will affect the accuracy of the platform. This paper considering the fluid unit equivalent stiffness cyclical fluctuations and leg, on the basis of the relationship between hydraulic stiffness, constructs the electric hydraulic Stewart platform machine vibration dynamics equation, fluid coupling parameters of vibration parameters using the method of the multiscale approximate analytic formula of the main resonance and combination resonance are derived, and the system parameters vibration time-domain response and frequency response under two different poses are discussed. Results show that the system first to six order natural frequency and the first to the sixth order natural frequency and frequency of hydraulic oil equivalent stiffness of the combination of frequency will have an effect on the parameters of the system vibration. In the main resonance, the dominant frequency is mainly the first to sixth order natural frequency of the system; in the combined resonance, the dominant frequency is the combined frequency. Through the parameter vibration analysis of two different positions of the platform, it is concluded that when the platform is in an asymmetric position, each leg of the system is more involved in vibration. This study can provide the reference for the subsequent dynamic optimization and reliability analysis of the electro-hydraulic Stewart platform. |
| format | Article |
| id | doaj-art-ea16d6ce9e0d45fe9ababcfd955cd310 |
| institution | DOAJ |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-ea16d6ce9e0d45fe9ababcfd955cd3102025-08-20T03:20:39ZengWileyShock and Vibration1070-96221875-92032021-01-01202110.1155/2021/99947869994786Parametric Vibration Analysis of a Six-Degree-of-Freedom Electro-Hydraulic Stewart PlatformXiaoming Yuan0Yue Tang1Weiqi Wang2Lijie Zhang3Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, ChinaHebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, ChinaHebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, ChinaHebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, ChinaElectro-hydraulic Stewart 6-DOF platform is a 6-DOF parallel mechanism combined with the electro-hydraulic servo control system, which is widely used in the field of construction machinery. In actual working conditions, the flow and pressure pulsation of the hydraulic oil output from the hydraulic leg of the electro-hydraulic Stewart platform are inevitable, so the equivalent stiffness of the platform leg will change, and the stiffness parameters of the transmission system will change, resulting in vibration, which will affect the accuracy of the platform. This paper considering the fluid unit equivalent stiffness cyclical fluctuations and leg, on the basis of the relationship between hydraulic stiffness, constructs the electric hydraulic Stewart platform machine vibration dynamics equation, fluid coupling parameters of vibration parameters using the method of the multiscale approximate analytic formula of the main resonance and combination resonance are derived, and the system parameters vibration time-domain response and frequency response under two different poses are discussed. Results show that the system first to six order natural frequency and the first to the sixth order natural frequency and frequency of hydraulic oil equivalent stiffness of the combination of frequency will have an effect on the parameters of the system vibration. In the main resonance, the dominant frequency is mainly the first to sixth order natural frequency of the system; in the combined resonance, the dominant frequency is the combined frequency. Through the parameter vibration analysis of two different positions of the platform, it is concluded that when the platform is in an asymmetric position, each leg of the system is more involved in vibration. This study can provide the reference for the subsequent dynamic optimization and reliability analysis of the electro-hydraulic Stewart platform.http://dx.doi.org/10.1155/2021/9994786 |
| spellingShingle | Xiaoming Yuan Yue Tang Weiqi Wang Lijie Zhang Parametric Vibration Analysis of a Six-Degree-of-Freedom Electro-Hydraulic Stewart Platform Shock and Vibration |
| title | Parametric Vibration Analysis of a Six-Degree-of-Freedom Electro-Hydraulic Stewart Platform |
| title_full | Parametric Vibration Analysis of a Six-Degree-of-Freedom Electro-Hydraulic Stewart Platform |
| title_fullStr | Parametric Vibration Analysis of a Six-Degree-of-Freedom Electro-Hydraulic Stewart Platform |
| title_full_unstemmed | Parametric Vibration Analysis of a Six-Degree-of-Freedom Electro-Hydraulic Stewart Platform |
| title_short | Parametric Vibration Analysis of a Six-Degree-of-Freedom Electro-Hydraulic Stewart Platform |
| title_sort | parametric vibration analysis of a six degree of freedom electro hydraulic stewart platform |
| url | http://dx.doi.org/10.1155/2021/9994786 |
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