Neural-Fuzzy Control for Isolation Platform Based on Hexapod Parallel Mechanism
To widespread six-dimensional spatial vibration and shock in engineering, a novel device is present in which Hexapod platform is used as the main body and Magneto–rheological(MR) damper is used as a vibration control units installed at six branch chain. But the mathematics model for controlling is very complex because the multi-DOF model is highly coupling. In this paper, owing to the six chain vectors of the Hexapod mechanism are linear independence, which shows every branch of the system can be controlled by independent controlling algorithm. A neutral-fuzzy control algorithm is designed to achieve active vibration control a 2-DOF model. The results indicate that the effect of isolation after active control is obvious comparing passive control.
W. Zhu et al., "Neural-Fuzzy Control for Isolation Platform Based on Hexapod Parallel Mechanism", Applied Mechanics and Materials, Vols. 44-47, pp. 3497-3501, 2011