CN104214484A - Six-degree-of-freedom parallel mechanism vibration attenuation platform - Google Patents
Six-degree-of-freedom parallel mechanism vibration attenuation platform Download PDFInfo
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- CN104214484A CN104214484A CN201410374157.0A CN201410374157A CN104214484A CN 104214484 A CN104214484 A CN 104214484A CN 201410374157 A CN201410374157 A CN 201410374157A CN 104214484 A CN104214484 A CN 104214484A
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Abstract
The invention discloses a six-degree-of-freedom parallel mechanism vibration attenuation platform. By setting a given structural parameter, the quasi-rigidness of the vibration isolation platform on a balance position and the nonlinear rigidness of the vibration isolation platform near the balance position can be realized, and the difficulty when the traditional linear vibration isolation system isolates the low-frequency or ultralow-frequency vibration can be solved; the rigidness and damping can be simply adjusted, the six-degree-of-freedom parallel mechanism vibration attenuation platform is suitable for the broadband-frequency vibration isolation and has good engineering applicability; while the supporting rigidness is high, the motion rigidness is low, the static deformation is small, the dynamic intrinsic frequency is low, and the vibration isolation effect is good; by flexibly adjusting the rigidness and damping, the intrinsic contradiction, i.e. the contradiction between the low-frequency vibration transfer rate and high-frequency vibration attenuation rate, for restricting the traditional vibration isolation system can be solved.
Description
Technical field
The invention belongs to the technical field of mechanical engineering field, relate to the vibration damping in mechanical engineering, vibration isolation technique, particularly relate to a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform.
Background technique
In order to overcome the contradiction between system stiffness and static displacement, vibrating isolation system should have higher static stiffness and lower dynamic rate simultaneously.Higher static stiffness ensures that system bearing ability is comparatively large, and static displacement is less; Lower dynamic rate ensures that system frequency is lower, and low frequency vibration isolation effect is better.Traditional passive vibration isolation system is greater than vibrating isolation system inherently frequency in extraneous energizing frequency
times time, just can play vibration isolation effect.This vibrating isolation system can be isolated energizing frequency preferably and is greater than
the medium, high frequency vibration of times system frequency, but isolation energizing frequency is less than
the ability of the low-frequency vibration of times system frequency especially superlow frequency vibrating is poor.In order to improve the ability of passive vibration isolation isolation of system low frequency and superlow frequency vibrating, the natural frequency of vibrating isolation system should be reduced, usually having two kinds of ways: one is the rigidity reducing vibrating isolation system; Two is increase counterweight, but for vertical vibration isolation system, reduces rigidity and the static displacement of vibrating isolation system can be made to increase and stability decline; And to increase counterweight be obviously last selection, only just adopt when last resort, and application is limited.
Summary of the invention
The invention provides a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform, its objective is and make six-degree-of-freedom parallel connection mechanism vibration reduction platform have both higher static stiffness and lower dynamic rate and stiffness and damping is adjustable; Accurate zero stiffness characteristic can be realized, and can widen in the vibration isolation frequency domain of six-degree-of-freedom vibration reduction platform.
To achieve these goals, the technological scheme that the present invention takes is:
The invention provides a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform, include framework, load carrying platform and vibration damper, described framework includes inner gimbal and external frame, vibration damper includes X to displacement absorber, Y-direction displacement absorber, Z-direction displacement absorber and main damper, described external frame is arranged with base, inner gimbal is arranged on inside external frame, described external frame includes lower circular support platform, inner gimbal includes circular support platform, the center portion of described upper circular support platform is provided with guide cylinder, the upper end of described guide cylinder is connected with load carrying platform, described base includes external frame mounting hole, X is to displacer groove and arc guide groove, described X is provided with X to displacer on displacer groove, be provided with X in described base to be connected to displacer to displacement absorber with X, described external frame lower end is provided with polygonal boss, X is provided with lower push-rod and is connected with polygonal boss on displacer, described lower circular support platform is provided with Y-direction displacement absorber and Z-direction displacement absorber, Y-direction displacement absorber is connected with upper circular support platform bottom, described external frame is provided with Z-direction displacer groove, Z-direction displacement absorber is arranged in Z-direction displacer groove, described Z-direction displacer vibration damper upper end is provided with Z-direction displacer, described Z-direction displacer is provided with upper push-rod to be connected with upper circular support platform upper end, vertical main damper is provided with in described guide cylinder, Y-direction displacement absorber and lower circular support platform have angle of inclination, under being arranged on that Z-direction displacement absorber is vertical on circular support platform.
Further improvement is: described polygonal boss is provided with the T-shaped guide rod of class and is connected in base arc guide groove, described external frame is connected with inner gimbal by connecting rod.
Further improvement is: described X is at least provided with two to displacement absorber, and Y-direction displacement absorber is at least provided with one, and Z-direction displacement absorber is at least provided with two.
Further improvement is: described guide cylinder is provided with an observation panel vertically, and described guide cylinder is circumferentially also provided with the positioning rib be evenly distributed.
Further improvement is: described vibration damper comprises shock absorber piston rod, shock absorber working cylinder, vibration damper base, damper piston, the upper end of described shock absorber piston rod is connected with vibration damper spherical shell, lower end is fixedly connected with damper piston, described damper piston is positioned at shock absorber working cylinder, the upper end of described shock absorber working cylinder is provided with piston rod guide sleeve and rod seal circle, the inside of described shock absorber working cylinder is also provided with guiding tube, described guiding tube is through damper piston, described damper piston is furnished with stuffing box bearing, pass for guiding tube, and ensure that guiding tube can rotate activity, the cylindrical of stuffing box bearing is enclosed with seal ring, on the bottom cylindrical that described guiding tube is positioned at shock absorber working cylinder and cover has stuffing box gland, the cylindrical surface cover of stuffing box gland has flow control valve, gear shifting mechanism is furnished with in described vibration damper base.
Further improvement is: described gear shifting mechanism comprises vibration damper and to transfer the files handle, vibration damper stick, bevel gear pair and cone gear, described bevel gear pair is provided with two cone gears to be fixedly connected with the front end of vibration damper stick with the lower end of guiding tube respectively, rear end and the vibration damper of vibration damper stick handle of transferring the files is fixedly connected with.
Further improvement is: described stuffing box gland, guiding tube guide sleeve and guiding tube are provided with the rectangular opening of one group of corresponding control flow, namely the rectangular opening on described guiding tube guide sleeve is guide sleeve rectangular opening, rectangular opening on guiding tube is guiding tube liquid current control rectangular opening, and the pore size of described rectangular opening is different.
Beneficial effect of the present invention: 1, arrange certain structural parameter, can realize the non-linear rigidity of this vibration-isolating platform near the accurate zero stiffness and equilibrium position of its equilibrium position, can solve difficult problem when conventional linear vibrating isolation system isolation low frequency or superlow frequency vibrating;
2, rigidity, damping all can easyly regulate, and are applicable to wide frequency domain vibration isolation, have good engineering adaptability;
3, while having higher support stiffness, also have very low motion rigidity, static deformation amount is little, and dynamic natural frequency is low, and vibration isolating effect is good;
4, by the free adjusting of rigidity, damping, the intrinsic contradictions restricting traditional vibrating isolation system can be solved, i.e. the contradiction of low-frequency vibration transmissibility and dither decrement.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention.
Fig. 2 is the sectional view of base of the present invention.
Fig. 3 is the internal view of base of the present invention.
Fig. 4 is the sectional view of external frame of the present invention.
Fig. 5 is the schematic diagram of inner gimbal of the present invention.
Fig. 6 is the structural drawing of inner gimbal of the present invention and external frame.
Fig. 7 is the overall sectional view of vibration damper of the present invention.
Fig. 8 is the enlarged top view of vibration damper of the present invention.
Fig. 9 is the structural drawing of the gear shifting mechanism of vibration damper of the present invention.
Figure 10 is the gear shifting mechanism internal structure schematic diagram of vibration damper of the present invention.
Figure 11 is X-axis translation vibration attenuation mechanism figure.
Figure 12 is Y-axis translation vibration attenuation mechanism figure.
Figure 13 is Z axis translation vibration attenuation mechanism figure.
Figure 14 is that X-axis rotates vibration attenuation mechanism figure.
Figure 15 is that Z axis rotates vibration attenuation mechanism figure.
Wherein: 1-load carrying platform, 2-vibration damper, 3-inner gimbal, 4-external frame, 5-base, circular support platform under 6-, the upper circular support platform of 7-, 8-guide cylinder, 9-external frame mounting hole, 10-X is to displacer groove, 11-arc guide groove, 12-X is to displacer, 13-polygonal boss, 14-lower push-rod, 15-Z is to displacer groove, 16-Z is to displacer, 17-upper push-rod, the T-shaped guide rod of 18-class, 19-connecting rod, 20-positioning rib, 21-observation panel, 22-shock absorber piston rod, 23-shock absorber working cylinder, 24-vibration damper base, 25-damper piston, 26-vibration damper spherical shell, 27-piston rod guide sleeve, 28-rod seal circle, 29-guiding tube, 30-stuffing box bearing, 31-seal ring, 32-stuffing box gland, 33-flow control valve, 34-vibration damper is transferred the files handle, 35-vibration damper stick, 36-bevel gear pair, 37-cone gear, 38-guiding tube guide sleeve, 39-rectangular opening, 40-inner gimbal connecting ball head, 41-external frame connects asks shell, 42-ball pivot, 43-vibration damper upper cylinder half, cylinder under 44-vibration damper.
Embodiment
In order to deepen the understanding of the present invention, below in conjunction with embodiment, the invention will be further described, and the present embodiment only for explaining the present invention, does not form limiting the scope of the present invention.
As shown in figs. 1-11, present embodiments provide a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform, include framework, load carrying platform 1 and vibration damper 2, described framework includes inner gimbal 3 and external frame 4, vibration damper 2 includes X to displacement absorber 2-a, Y-direction displacement absorber 2-b, Z-direction displacement absorber 2-c and main damper 2-d, described external frame 4 is arranged with base 5, inner gimbal 3 is arranged on inside external frame 4, described external frame 4 includes lower circular support platform 6, inner gimbal 3 includes circular support platform 7, the center portion of described upper circular support platform 7 is provided with guide cylinder 8, the upper end of described guide cylinder 8 is connected with load carrying platform 1, described base 5 includes external frame mounting hole 9, X is to displacer groove 10 and arc guide groove 11, described X is provided with X to displacer 12 on displacer groove 10, be provided with X in described base 5 to be connected to displacement absorber 2-a and X to displacer 12, described external frame 4 lower end is provided with polygonal boss 13, X is provided with lower push-rod 14 and is connected with polygonal boss 13 on displacer 12, described lower circular support platform 6 is provided with Y-direction displacement absorber 2-b and Z-direction displacement absorber 2-c, Y-direction displacement absorber 2-b is connected with upper circular support platform 7 bottom, described external frame 4 is provided with Z-direction displacer groove 15, described Z-direction displacement absorber 2-c is arranged in Z-direction displacer groove 15, described Z-direction displacer vibration damper 2-c upper end is provided with Z-direction displacer 16, described Z-direction displacer 16 is provided with upper push-rod 17 to be connected with upper circular support platform 7 upper end, vertical main damper 2-d is provided with in described guide cylinder 8, Y-direction displacement absorber 2-b and lower circular support platform 6 have angle of inclination, under being arranged on that Z-direction displacement absorber 2-c is vertical on circular support platform 6.Described polygonal boss 13 being provided with the T-shaped guide rod 18 of class is connected in the arc guide groove 11 of base 5, described external frame 4 is connected with inner gimbal 3 by connecting rod 19, described connecting rod is divided into inner gimbal connecting ball head 40 to be connected with external frame asking shell 41, described X is provided with four to displacement absorber 2-a, Y-direction displacement absorber 2-b is provided with two, and Z-direction displacement absorber 2-c is provided with three.Described guide cylinder 8 is provided with an observation panel 21 vertically, and described guide cylinder 8 is circumferentially also provided with the positioning rib 20 be evenly distributed.Described vibration damper 2 comprises, shock absorber piston rod 22, shock absorber working cylinder 23, vibration damper base 24, damper piston 25, the upper end of described shock absorber piston rod 22 is connected with vibration damper spherical shell 26, lower end is fixedly connected with damper piston 25, described damper piston 25 is positioned at shock absorber working cylinder 23, the upper end of described shock absorber working cylinder 23 is provided with piston rod guide sleeve 27 and rod seal circle 28, the inside of described shock absorber working cylinder 23 is also provided with guiding tube 29, described guiding tube 29 is through damper piston 25, described damper piston 25 is furnished with stuffing box bearing 30, pass for guiding tube 29, and ensure that guiding tube 29 can rotate activity, the cylindrical of stuffing box bearing 30 is enclosed with seal ring 31, on the bottom cylindrical that described guiding tube 29 is positioned at shock absorber working cylinder 23 and cover has stuffing box gland 32, the cylindrical surface cover of stuffing box gland 32 has flow control valve 33, gear shifting mechanism is furnished with in described vibration damper base 24.Described gear shifting mechanism comprises vibration damper and to transfer the files handle 34, vibration damper stick 35, bevel gear pair 36 and cone gear 37, described bevel gear pair 36 is provided with two cone gears 37 to be fixedly connected with the front end of vibration damper stick 35 with the lower end of guiding tube 29 respectively, rear end and the vibration damper of vibration damper stick 35 handle 34 of transferring the files is fixedly connected with.Described stuffing box gland 32, guiding tube guide sleeve 38 and guiding tube 29 are provided with the rectangular opening 39 of one group of corresponding control flow, namely the rectangular opening on described guiding tube guide sleeve is guide sleeve rectangular opening, rectangular opening 39 on guiding tube 29 is guiding tube 29 liquid current control rectangular openings, and the pore size of described rectangular opening 39 is different.Described shock absorber working cylinder 23 includes cylinder 44 under vibration damper upper cylinder half 43 and vibration damper, when described vibration damper 2 works, has six gears adjustable; When gear exists
during shelves, rectangular opening 39 conducting minimum on guiding tube 29, make vibration damper upper cylinder half 43 minimum with cylinder 44 conducting cross section under vibration damper, now damping is maximum, all the other gears the like.
During this working platform, according to extraneous vibration source excitation situation, the corresponding adjustment rigidity (fourth gear is adjustable) of vibration damper and the damping (six grades are adjustable) of vibration damper; Due to the specific selection of structural parameter, platform rigidity trends towards zero stiffness, is suitable for the low-down situation of excited frequency.Like this, the vibration isolating effect that six-degree-of-freedom vibration reduction platform reaches best can be made.
Specifically, the translation vibration damping of X, Y-axis is as described below:
As shown in figure 11, when this vibration reduction platform is subject to the vibration of X-axis forward, platform outer gimbal 4 moves along X-axis postive direction, lower push-rod 14 moves at X-Y plane, because X can only move along X to displacement chute 10 to displacer 12, therefore left side X reduces to displacer 12 spacing, and right side X increases to displacer 12 spacing, in X-Y plane, vibration damper all can normally work, and realizes the translation vibration damping of X-axis postive direction.Time in the other direction, principle is identical.
As shown in figure 12, when this vibration reduction platform is subject to the vibration of Y-axis forward, platform outer gimbal 4 moves along Y-axis postive direction, lower push-rod 14 is in X-Y plane translation, because X can only move along X to displacement chute 10 to displacer 12, therefore four X all move upward to displacer 12, and in X-Y plane, vibration damper all can normally work, and realize the translation vibration damping of Y-axis postive direction.Time in the other direction, principle is identical.
As shown in figure 13, when this vibration reduction platform is subject to the vibration of z-axis negative sense, be fixing relative to base 5 in Z-direction due to platform inner gimbal 3 and platform outer gimbal 4, so load carrying platform 1 moves downward, main damper 2-d works, and realizes the translation vibration damping of Z axis negative direction.Time in the other direction, principle is identical.
As shown in figure 14, when this vibration reduction platform is subject to the rotational vibrations from X-axis, spherical shell 41 is connected by external frame and inner gimbal connecting ball head 40 is combined due to platform inner gimbal 3 and platform outer gimbal 4, so when load carrying platform 1 is subject to the rotation around X-axis direction, load carrying platform 1 can drive platform inner gimbal mechanism 3 to rotate, and realizes the rotation vibration damping of X-axis.
When this vibration reduction platform is subject to the rotational vibrations from Y-axis, principle is the same;
As shown in figure 15, described vibration damper 2 is connected with described inner gimbal, external frame by ball pivot 42.Platform inner gimbal 3 and platform outer gimbal 4 connect spherical shell 41 by external frame and inner gimbal connecting ball head 40 is combined, when platform inner gimbal 3 is subject to the rotational vibrations along Z-direction, vibration damper shown in figure does tension and compression motion respectively, causes the distance between two of each vibration damper ball pivots to change.Distance between a pair ball pivot seat of platform sinistral increases, therefore left side vibration damper under tension and work, the distance between a pair ball pivot seat of platform dextral diminishes, and the vibration damper on right side is squeezed and works, so can realize the rotation vibration damping of Z axis.
Claims (7)
1. a six-degree-of-freedom parallel connection mechanism vibration reduction platform, include framework, load carrying platform (1) and vibration damper (2), it is characterized in that: described framework includes inner gimbal (3) and external frame (4), vibration damper (2) includes X to displacement absorber (2-a), Y-direction displacement absorber (2-b), Z-direction displacement absorber (2-c) and main damper (2-d), described external frame (4) is arranged with base (5), inner gimbal (3) is arranged on external frame (4) the inside, described external frame (4) includes lower circular support platform (6), inner gimbal (3) includes circular support platform (7), the center portion of described upper circular support platform (7) is provided with guide cylinder (8), the upper end of described guide cylinder (8) is connected with load carrying platform (1), described base (5) includes external frame mounting hole (9), X is to displacer groove (10) and arc guide groove (11), described X is provided with X to displacer (12) on displacer groove (10), be provided with X in described base (5) to be connected to displacer (12) to displacement absorber (2-a) with X, described external frame (4) lower end is provided with polygonal boss (13), X is provided with lower push-rod (14) and is connected with polygonal boss (13) on displacer (12), described lower circular support platform (6) is provided with Y-direction displacement absorber (2-b) and Z-direction displacement absorber (2-c), Y-direction displacement absorber (2-b) is connected with upper circular support platform (7) bottom, described external frame (4) is provided with Z-direction displacer groove (15), described Z-direction displacement absorber (2-c) is arranged in Z-direction displacer groove (15), described Z-direction displacer vibration damper (2-c) upper end is provided with Z-direction displacer (16), described Z-direction displacer (16) is provided with upper push-rod (17) to be connected with upper circular support platform (7) upper end, vertical main damper (2-d) is provided with in described guide cylinder (8), Y-direction displacement absorber (2-b) and lower circular support platform (6) have angle of inclination, under being arranged on that Z-direction displacement absorber (2-c) is vertical on circular support platform (6).
2. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 1, it is characterized in that: described polygonal boss (13) is provided with the T-shaped guide rod of class (18) and is connected in the arc guide groove (11) of base (5), described external frame (4) is connected with inner gimbal (3) by connecting rod (19).
3. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 1, it is characterized in that: described X is at least provided with two to displacement absorber (2-a), Y-direction displacement absorber (2-b) is at least provided with one, and Z-direction displacement absorber (2-c) is at least provided with two.
4. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 1, it is characterized in that: described guide cylinder (8) is provided with an observation panel 21 vertically, described guide cylinder (8) is circumferentially also provided with the positioning rib 20 be evenly distributed.
5. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 1, it is characterized in that: described vibration damper (2) comprises, shock absorber piston rod (22), shock absorber working cylinder (23), vibration damper base (24), damper piston (25), the upper end of described shock absorber piston rod (22) is connected with vibration damper spherical shell (26), lower end is fixedly connected with damper piston (25), described damper piston (25) is positioned at shock absorber working cylinder (23), the upper end of described shock absorber working cylinder (23) is provided with piston rod guide sleeve (27) and rod seal circle (28), the inside of described shock absorber working cylinder (23) is also provided with guiding tube (29), described guiding tube (29) is through damper piston (25), described damper piston (25) is furnished with stuffing box bearing (30), pass for guiding tube (29), and ensure that guiding tube (29) can rotate activity, the cylindrical of stuffing box bearing (30) is enclosed with seal ring (31), on the bottom cylindrical that described guiding tube (29) is positioned at shock absorber working cylinder (23) and cover has stuffing box gland (32), the cylindrical surface cover of stuffing box gland (32) has flow control valve (33), gear shifting mechanism is furnished with in described vibration damper base (24).
6. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 5, it is characterized in that: described gear shifting mechanism comprises vibration damper and to transfer the files handle (34), vibration damper stick (35), bevel gear pair (36) and cone gear (37), described bevel gear pair (36) is provided with two cone gears (37) to be fixedly connected with the front end of vibration damper stick (35) with the lower end of guiding tube (29) respectively, rear end and the vibration damper of vibration damper stick (35) handle (34) of transferring the files is fixedly connected with.
7. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 5, it is characterized in that: described stuffing box gland (32), guiding tube guide sleeve (38) and guiding tube (29) are provided with the rectangular opening (39) of one group of corresponding control flow, namely the rectangular opening on described guiding tube guide sleeve is guide sleeve rectangular opening, rectangular opening on guiding tube is guiding tube liquid current control rectangular opening, and the pore size of described rectangular opening is different.
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| CN105065526A (en) * | 2015-07-22 | 2015-11-18 | 安徽工程大学 | Flexibly adjustable quasi-zero rigidity vibration attenuation platform |
| CN105299128A (en) * | 2015-11-27 | 2016-02-03 | 上海工程技术大学 | Double-acting platform type parallel mechanism vibration reducing platform |
| CN105570631A (en) * | 2016-03-09 | 2016-05-11 | 中国船舶重工集团公司第七一〇研究所 | Unpowered self-adjusting type anti-toppling platform |
| CN105972394A (en) * | 2016-07-12 | 2016-09-28 | 安徽工程大学 | Quasi-zero-rigidity vibration isolation platform |
| CN106195104A (en) * | 2016-07-29 | 2016-12-07 | 安庆米锐智能科技有限公司 | A kind of rotation vibration-free tables for indoor air purification smart machine |
| CN107143613A (en) * | 2017-05-18 | 2017-09-08 | 嘉兴学院 | A kind of vibration reduction platform with quasi- zero stiffness |
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| CN104791411A (en) * | 2015-04-20 | 2015-07-22 | 上海工程技术大学 | High-sensitivity vibration isolation platform based on linkage type magnetorheological fluid dampers |
| CN105065526A (en) * | 2015-07-22 | 2015-11-18 | 安徽工程大学 | Flexibly adjustable quasi-zero rigidity vibration attenuation platform |
| CN105065526B (en) * | 2015-07-22 | 2017-04-19 | 安徽工程大学 | Flexibly adjustable quasi-zero rigidity vibration attenuation platform |
| CN105299128A (en) * | 2015-11-27 | 2016-02-03 | 上海工程技术大学 | Double-acting platform type parallel mechanism vibration reducing platform |
| CN105570631A (en) * | 2016-03-09 | 2016-05-11 | 中国船舶重工集团公司第七一〇研究所 | Unpowered self-adjusting type anti-toppling platform |
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| CN106195104B (en) * | 2016-07-29 | 2018-06-26 | 黄俊龙 | A kind of rotation vibration-free tables for indoor air purification smart machine |
| CN107143613B (en) * | 2017-05-18 | 2018-11-09 | 嘉兴学院 | A kind of vibration reduction platform with quasi- zero stiffness |
| CN107143613A (en) * | 2017-05-18 | 2017-09-08 | 嘉兴学院 | A kind of vibration reduction platform with quasi- zero stiffness |
| CN107270061A (en) * | 2017-07-20 | 2017-10-20 | 大连海事大学 | A kind of six-freedom hydraulic motion platform control method with connecting rod |
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