Modeling and analysis of a multi-dimensional vibration isolator based on the parallel mechanism

A hybrid manipulator applied to vibration isolation of the manufacturing systems is proposed in this paper. The translations and rotations of the manipulator are decoupled, so the proposed isolator can isolate vibrations with wide range of frequency, at the same time it is fully capable of adjusting the orientations of the equipments. The scheme design, inverse kinematics, workspace and dexterity are carried out in this paper. A closed form dynamic model considering the external excitations on the base platform is performed based on the NewtonEuler approach. The optimum solutions of the forces in each actuating limb are obtained by using the MoorPenrose inverse matrix. Furthermore, a novel dynamic performance index is proposed to evaluate the estimated maximum forces in the actuating limbs; this index can help to optimally design the parameters of motor, spring and damper. In order to evaluate the performance of isolation, the displacement transmissibility and acceleration transmissibility are also analyzed. The research work provides an analytical base for the development of the novel vibration isolator.