Feasibility Study of Application of the New Robot Platform as an Active Controllable Support

Abstract

The article presents results of the feasibility study of a new robotic platform as an active six-axis-driven support for protection of the facilities, technical equipment and structures from the extraordinary mechanical influences. It was demonstrated that such a system can be realized, if the mechanical part of the platform of the robot is a six-movable parallel arm with a new topology structure. In order to substantiate the use of a platform robot as an actively controllable support, a working model was created of the robot platform with the hydraulic drives, which ensured functioning of the robot platform as a controllable support. In order to evaluate the reaction of the robot to the changing external perturbations, the indicator of the motor reaction was used. For analysis of the motor reactions of the real-sided spring return actuator with throttling holes in the piston and without throttling apertures, an experimental study was done on the current model of the robot platform. The experimental results confirmed the possibility of using the robot as a platform for an actively controllable support and allowed to formulate recommendations for application of the new platform as an active support. An example is presented of the use of the robot platform system in an active seismological protection system for buildings.