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�������պ����ѧѧ�� 2007, Vol. 33 Issue (09) :1017-1020    DOI:
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��ΰ��, �ƺ�, �߱�*
�������պ����ѧ �ѧԺ, ���� 100083
Development and experiment of active member for space-base precise pointing Hexapod
Li Weipeng, Huang Hai, Bian Bian*
School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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ժҪ ��Ի��ڲ��������Ŀռ侫�ܸ���Hexapodƽ̨�Ĵ��г̡�������Ҫ��,ͨ������������Ԫ���ķ���,���������Ƕ��������Թ���˿��������Ϊ�궯���֡�ѹ��������Ϊ΢�����ֵĴ��г̸�Ƶ�쾫�ܸ���������,�����˸������������г̡�������λ���ȼ���̬����,��dSPACE���������ϵͳΪ���Ľ�����ʵ��ϵͳ,�����˸��������������ɶȾ�ȷ��λʵ�������������ʵ��.�ɽ����֪,���������������г̳���50�kmm����΢�����ֲ���������嶨λ���С��1�kμm�����ҳ����Ŷ��²�������Ӧ�˲�ADC(Active Disturbance Canceller)����ʹ����½�90%����.�������,���˸���������Ӧ���ڿռ���ȶ����ܸ���Hexapodƽ̨����ȫ���е�.
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Abstract�� A platform scheme that provides precision pointing and active vibration isolation for space-base payloads based on parallel mechanism-Hexapod was proposed. With the analysis of the current Hexapod-s actuators, a high precision dual-driving hybrid actuator was developed. It integrated ball-screw actuator as macro-moving stage and piezoelectric stack actuator as micro-moving stage. Key characteristics of the hybrid actuator were measured at first, such as stroke, macro-moving stage open-loop positioning accuracy and micromoving stage dynamic property. An experiment system based on MATLAB/dSPACE environment was established and the actuator single degree-of-freedom positioning experiment and active vibration isolation experiment were carried on then. Experiment results show that the hybrid actuator stroke exceeds 50�kmm and its whole positioning error being less than 1μm with the close-loop compensation of the micro-moving stage. The results also show that when continuously excited at 30Hz on one end of the hybrid actuator, vibration on the other end is decreased more than 90% with the adaptive filtering active disturbance canceller (ADC) algorithm. The study indicates that the hybrid actuator is expected to apply to precise pointing Hexapod.
Keywords�� parallel mechanism   hybrid actuator   precision positioning   active vibration control     
Received 2006-09-21;


About author: ��ΰ��(1980-),��,������,��ʿ��,lwp@sa.buaa.edu.cn.
��ΰ��, �ƺ�, �߱�.�ռ侫�ܸ���Hexapodƽ̨������������ʵ��[J]  �������պ����ѧѧ��, 2007,V33(09): 1017-1020
Li Weipeng, Huang Hai, Bian Bian.Development and experiment of active member for space-base precise pointing Hexapod[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(09): 1017-1020
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