6-DEGREE-OF-FREEDOM ACTIVE VIBRATION ISOLATION USING A STEWART PLATFORM MECHANISM

Intelligent Automation, Inc. has performed a study of a six-degree-of-freedom (dof) active vibration isolation system based on a Stewart platform mechanism to be used for precision control of a wide range of space-based structures as well as earth-based systems. This article presents part of the study results, which includes a new Terfenol-D actuator design and analysis, a design of a Stewart platform as a vibration isolation device, and robust adaptive filter algorithms for active vibration control. Prototype hardware of a six-dof active vibration isolation system has been implemented and tested. About 30 dB of vibration attenuation is achieved in real-time experiments.