Nov 29, 2011 , by
Public Summary Month 10/2011
Parameter identification
The frequency model described in month 8 works for a one dimensional excitation with a centered mass.
This theoretical result has to be prooved in a first experiment.To verify it on the moving platform a special test mass was developed. The basic test assumption states that the load separates in two masses connected via a spring. A flat spring connecting base mass and additional vibrating mass was used, to have a defined direction of movement.
Hardware adaptation
Adaptation of experimental hardware was started with focus on a new electronic control hardware, to overcome synchronization errors in the control of more DOF’s.
The hexapod is drived by 6 pneumatic actuators, each of them has an integrated position sensor, a pressure sensor, a servo valve and/or a digital valve. These signals have to be synchronized through all degrees of freedom.
The design was therefore chosen following a modular structure.
