Integrated Design for Configuration/Vibration Control of Hexapod Platform

Abstract

The Hexapod configuration and vibration control integrated design is treated as an optimal problem of choosing minimum control energy index among a family of Hexapod with optimal Jacobian condition number. Based on the theory of optimal Jacobian condition number, a programming problem is given, which takes control parameter of nonlinear feedback adaptive disturbance canceller(ADC) method, radius of Hexapod base plate and half separation angle between adjacent actuator attachment points on the up plate as design variables, control convergence condition, workspace, and space between attachment points as constrained conditions, and weighted sum of six actuators’ average energy consumption and its variance component as objective function. As the optimal model and its sensitivities contain implicit functions of design variables, the primal problem is approached by 2-rank elliptical response surface method with D-optimal test design. The original programming problem is settled by solving sequence of approximate problems. The example result gives out rules and key points of controller and configuration design of Hexapod, and demonstrates validity and feasibility of the proposed method. Compared with original developed Hexapod, the optimized Hexapod has the minimum condition number, and the advantages in control energy consumption and distribution.