3自由度パラレルリンク型アクティブ吸振器付き搬送台車による水平化制御 : 搬送台の鉛直方向変位を零とする水平化制御

This paper proposes a level control of a carrier platform on a cart with an active vibration reducer of a 3-degree-of-freedom parallel link type. The carrier platform is supported with three links, which are connected to each linear actuator. The pitch angle, the roll angle and the vertical displacement of the carrier platform are controlled by these linear actuators. Even when the cart runs on uneven grounds, the carrier platform is always kept levelly and the vertical displacement of the platform is set to zero with the active vibration reducer. A method to measure the vertical displacement of the cart by using cheap sensors is proposed. The usefulness of the proposed control system is demonstrated through experimental results.