Use of an orthogonal parallel robot with redundant actuation as an earthquake simulator and its experiments

In this article, an orthogonal 6-degree-of-freedom (DOF) parallel robot with redundant actuation is studied as an earthquake motion simulator. Taking the practical simulation of earthquake waves into consideration, the general characteristics of natural earthquakes are analysed and complexity and variety of seismic waves, three-dimensional and multi-DOF movement, and strong devastating force are regarded as the three obvious features in this article. Based on the characteristics of this orthogonal 6-DOF parallel robot with redundant actuation and the features of earthquakes, the feasibility of using this parallel robot as an earthquake motion simulator is analysed from three aspects: orthogonal 6-DOF structure, decoupling feature, and redundant actuation module. In order to simulate an earthquake motion using this parallel robot, its inverse kinematics and dynamics models are derived. The control system of this earthquake simulator is developed based on the PXIbus development platform. The computed-torque control algorithm based on the inverse dynamics is used in the controller of this equipment. A typical three-directional earthquake motion, the El Centro earthquake, is simulated on the end-effector of this parallel robot by means of its mathematical models and control system. Three main motion parameters of simulated seismic waves, displacements, velocities, and accelerations, are measured, respectively, by laser tracker and acceleration sensors. The experimental results show this equipment is appropriate to be used as an earthquake simulator.

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