A general model of a kind of parallel manipulator for active control based on KANE’s dynamics

Since many applications in precision engineering will strongly require a careful isolation of the process from the vibration environment to provide a sufficiently quiescent gravity environment, the active isolation system which can achieve a very low remaining vibration level has become more and more important in recent years. In this paper, a general dynamic model of a kind of parallel platform for vibration control applications based on KANE’s method is presented. The analysis result is a state-space, analytical set of linearized equations of motion. At the end of this paper the control system architecture is introduced for the kind of parallel platform as a multiple-input/multiple-output (MIMO) problem.