Translational shaking tests achieved on a 6-DOF hydraulic parallel manipulator

Purpose – The paper aims to achieve translational shaking tests on a 6-DOF hydraulic parallel manipulator. Shaking tests are commonly performed on shaking tables, which are generally used for small motion ranges and are usually financially costly. The research is required to generate shaking motions in three translational directions for a specimen for shaking tests, but it also needs to produce 6-degree of freedom (DOF) motions with large motion ranges. Design/methodology/approach – A hydraulic 6-DOF (degree of freedom) parallel manipulator is applied to achieve this goal. The link-space control is adopted for the manipulator, and PID controller and feed-forward controller are used for each loop of the system. A hybrid reference signal generator is proposed by using a shaking controller, which is developed to convert the shaking motion into position signal. The converted result is directly added to the pose signal. The whole real-time control system is realized by using MATLAB xPC Target. Findings – The d...

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