1. ABSTRACT
Graduation work: Precise control of the Stewart platform (hexapod robot)
71 pages, 20 images, 9 tables, 79 sources, 2 attachments
HEXAPOD, MECHANISMS WITH PARALLEL STRUCTURE,
VIBRATION ISOLATION, OPTIMAL CONTROL, ACTIVE CONTROL
OF VIBRATION, ULTRASTABILITY, 6 DEGREES OF FREEDOM,
STEWART PLATFORM
Aim of work – dynamic research of a complicated vibration isolation
system in consideration of properties of its actuators of sorts, and also
developing a digital control system for active vibro-isolators on basis of
principles of modern theory of automatic control.
Object of research – mechanisms with parallel structure (kind of the
Stewart platform).
Subject of research – the problem of vibration isolation and ways of
struggling with vibration itself.
The 1st chapter consists of a review of active and passive systems of
vibro-isolation and their comparative analysis. Given proof of the
opportunity of applying mechanisms with parallel structure, and particularly
the Stewart platform to be used in the tasks of vibro-isolation.
The 2nd chapter is devoted to dynamic properties analysis of actuators.
Chapter 3 talks about developing control algorithms for one-
dimensional system, which solve the stated task on basis of principles of
modern theory of automatic control (optimal regulator and the regulator
based on the feature of “ultrastability”).