This paper describes the simulation, design, and testing of a high-performance six degree-of-freedom hexapod for the purpose of isolating sensitive payloads from low-frequency vibrations. Design criteria required the hexapod to support a generic payload up to 500 lb with an isolation plunge frequency of approximately 1 Hz. Simulations were performed using Matlab in order to determine the optimum geometry of the base and platform structures in order to provide the best combination of translation-rotation uncoupling, frequency spread, plunge frequency, and jitter. Based on these simulation results, hexapod base and platform structures were designed and fabricated based on a 50 inch-diameter platform size. All of the accumulators and pneumatic hardware were embedded into the base structure to allow for a totally contained system. Modal testing of the hexapod was performed in order to verify the modes predicted by the model.
- Design Engineering Division and Computers and Information in Engineering Division
Simulation, Design, and Testing of a High Performance Multi-Axis Hexapod for Vibration Isolation
Jahn, BR. "Simulation, Design, and Testing of a High Performance Multi-Axis Hexapod for Vibration Isolation." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 1: 21st Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 79-86. ASME. https://doi.org/10.1115/DETC2007-34502
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