Voice coil motor six-dimensional force output excitation device with feedback control

Abstract

This invention discloses a six-dimensional force output excitation device for a voice coil motor with feedback control, comprising a large-angle yaw motion device, a six-dimensional servo platform, and a voice coil motor excitation mechanism. The top of the six-dimensional servo platform is connected to the large-angle yaw motion device, the bottom of the six-dimensional servo platform is connected to one side of the voice coil motor excitation mechanism, and the other side of the voice coil motor excitation mechanism is fixedly connected to a simulated satellite. The large-angle yaw motion device and the six-dimensional servo platform are connected to an external camera measurement system. A six-dimensional force sensor is disposed at the center of the bottom of the voice coil motor excitation mechanism. This invention, employing the above-described structure, provides a six-dimensional force output excitation device for a voice coil motor with feedback control. By generating forces and torques, it interferes with the simulated satellite, simulating the vibration influence of the antenna on the satellite. This solves the problem of difficulty in reproducing the coupling force and torque of the flexible attachment on the satellite body in the modeling of flexible satellites, which typically feature a central rigid body with lightweight flexible attachments.

Description

Technical Field

[0001] This invention relates to the field of analog satellite equipment technology, and in particular to a six-dimensional force output excitation device for a voice coil motor with feedback control. Background Technology

[0002] Modern space missions mostly involve developing flexible satellites with a typical structural feature of a central rigid body and lightweight flexible attachments, which has become an important trend in spacecraft development. Flexible satellites have significant characteristics such as rigid-flexible coupling and sometimes dense low-frequency modes, which make existing rigid body dynamics models unable to accurately describe the satellite's dynamic characteristics. More accurate flexible satellite dynamics models are needed to design attitude control systems and provide a basis for the control system design.

[0003] In recent years, with the development of aerospace technology, the attitude and position control methods for simulated satellites on the ground mainly rely on cold jet propulsion mechanisms and reaction wheels. Cold jet propulsion mechanisms control the generation of reaction force by ejecting gas, requiring a large gas volume. Although the thrust can be adjusted by regulating the gas ejection pressure using the latest electromagnetic proportional valves, the precision of cold jet propulsion mechanisms remains limited.

[0004] High-precision torque control can be achieved using a reaction flywheel, with accuracy higher than that of a cold jet propulsion mechanism. However, the working principle of the reaction flywheel is as follows: a rotating mass rotates at high speed under the drive of a motor, generating a certain angular momentum. This rotor and the satellite form a system with conserved angular momentum. If the magnitude or direction of the flywheel's angular momentum is changed, the satellite will make a certain change in angular momentum to maintain the conservation of angular momentum. This working principle means that the flywheel is subject to speed saturation. Once the speed is saturated, the flywheel will lose its original function and speed unloading is necessary. However, unloading will generate a reverse torque, affecting satellite control. At the same time, since the flywheel is a high-precision control instrument, it inevitably suffers from range limitations. Moreover, because it can only output single-axis torque, it is not suitable for outputting multi-axis coupled interference forces.

[0005] Furthermore, since forces and moments are coupled simultaneously, the method of outputting multidimensional forces and moments needs further consideration. Moreover, the measurement methods for forces and moments are also a challenge. The most common calibration method for cold jet structures and reaction flywheels is pre-shipment calibration, but the changes that occur during actual use cannot be measured. Therefore, in order to achieve accurate modeling of flexible satellites with a typical structural feature of a central rigid body plus lightweight flexible accessories, the simulation output of multidimensional interference forces is also an urgent problem to be solved. Summary of the Invention

[0006] The purpose of this invention is to provide a six-dimensional force output excitation device for a voice coil motor with feedback control. By generating force and torque, it interferes with a simulated satellite, simulating the vibration effect of the antenna on the satellite. This solves the problem of difficulty in reproducing the coupling force and torque of the flexible attachment on the satellite body in the modeling of flexible satellites with typical structural features of a central rigid body and lightweight flexible attachments.

[0007] To achieve the above objectives, the present invention provides a six-dimensional force output excitation device for a voice coil motor with feedback control, comprising a large-angle yaw motion device, a six-dimensional follower platform, and a voice coil motor excitation mechanism; the top of the six-dimensional follower platform is connected to the large-angle yaw motion device, the bottom of the six-dimensional follower platform is connected to one side of the voice coil motor excitation mechanism, the other side of the voice coil motor excitation mechanism is fixedly connected to a simulated satellite, the large-angle yaw motion device and the six-dimensional follower platform are signal connected to an external camera measurement system, and a six-dimensional force sensor is disposed at the center of the bottom of the voice coil motor excitation mechanism.

[0008] Preferably, the large-angle yaw motion device includes an upper mounting plate, a lower mounting plate, an adjustable column, a high-torque drive motor, and a six-dimensional platform mounting adapter plate. The upper mounting plate is connected to the top of the adjustable column, the lower mounting plate is parallel to the upper mounting plate and connected to the bottom of the adjustable column, the six-dimensional platform mounting adapter plate is connected to the bottom of the lower mounting plate, the high-torque drive motor is horizontally mounted on the upper side of the lower mounting plate, the output shaft of the high-torque drive motor is on the same axis as the centerline of the six-dimensional platform mounting adapter plate, and the output shaft of the high-torque drive motor passes through the lower mounting plate and connects to the six-dimensional platform mounting adapter plate.

[0009] Preferably, the six-dimensional follow-up platform includes a platform mounting panel, a high-precision linear cylinder, and a platform under mounting panel. The platform mounting panel is connected to the large-angle yaw motion device, and the platform under mounting panel is connected to the voice coil motor excitation mechanism. Multiple high-precision linear cylinders are provided, and the multiple high-precision linear cylinders are evenly distributed between the platform mounting panel and the platform under mounting panel. Both ends of the high-precision linear cylinder are connected to the platform mounting panel and the platform under mounting panel through ball joints.

[0010] Preferably, the voice coil motor excitation structure includes a voice coil motor excitation mover end and a voice coil motor excitation stator end;

[0011] The voice coil motor excitation mover end includes several voice coil motor energized coils, coil mounting adapters, and a voice coil motor mover mounting plate. The voice coil motor mover mounting plate is fixedly connected to the six-dimensional follower platform, and all the voice coil motor energized coils are arranged on the lower side of the voice coil motor mover mounting plate.

[0012] The voice coil motor excitation stator end includes a voice coil motor stator mounting plate, a magnetic ring mounting adapter, and a voice coil motor magnetic ring; the lower side of the voice coil motor stator mounting plate is fixedly connected to the simulated satellite, and the voice coil motor magnetic ring is disposed on the upper side of the voice coil motor stator mounting plate.

[0013] Preferably, a portion of the voice coil motor energizing coils is arranged perpendicularly to the voice coil motor mover mounting plate, and another portion of the voice coil motor energizing coils is arranged parallel to the voice coil motor mover mounting plate. The vertically arranged voice coil motor energizing coils and the parallel arranged voice coil motor energizing coils are staggered. The parallel arranged voice coil motor energizing coils are connected to the voice coil motor mover mounting plate through a coil mounting adapter.

[0014] The distribution of the voice coil motor magnetic rings matches the energized coil of the voice coil motor. The parallel-arranged voice coil motor magnetic rings are connected to the voice coil motor stator mounting plate through the magnetic ring mounting adapter. The energized coil of the voice coil motor extends to the middle of the voice coil motor magnetic ring and is concentrically arranged with the voice coil motor magnetic ring. There is a gap between the energized coil of the voice coil motor and the voice coil motor magnetic ring.

[0015] Preferably, the upper side of the voice coil motor stator mounting plate is provided with a plurality of evenly distributed slide rails, the bottom of the magnetic ring mounting adapter is provided with a slider that is slidably connected to the slide rails, and the lower side of the voice coil motor stator mounting plate is provided with a plurality of position adjustment cylinders, one end of the position adjustment cylinder being fixedly connected to the voice coil motor stator mounting plate, and the other end of the position adjustment cylinder being connected to the slider through a connecting plate.

[0016] The beneficial effects of this invention are:

[0017] This invention achieves accurate force control by using a voice coil motor excitation mechanism and a follower mechanism in linkage, taking advantage of the characteristic that the voice coil motor outputs different forces under different currents. At the same time, since the force may cause positional collisions, a large-angle yaw motion device and a six-dimensional follower platform are used for tracking, so that the distance between the energized coil of the voice coil motor and the magnetic ring of the voice coil motor remains unchanged, thus maintaining non-contact force output, which greatly improves the accuracy and dimensionality of force output.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of an embodiment of a six-dimensional force output excitation device for a voice coil motor with feedback control according to the present invention;

[0020] Figure 2This is a schematic diagram of a six-dimensional force output excitation device for a voice coil motor with feedback control, according to the present invention, to excite the actuator end of the voice coil motor.

[0021] Figure 3 This is a schematic diagram of a six-dimensional force output excitation device for a voice coil motor with feedback control, according to the present invention, to excite the stator end of the voice coil motor.

[0022] Figure 4 This is a schematic diagram of the bottom structure of the voice coil motor excitation stator end of a six-dimensional force output excitation device with feedback control according to the present invention.

[0023] Figure 5 This is a schematic diagram of the direction of the output force of the energized coil of a voice coil motor, which is a six-dimensional force output excitation device with feedback control according to the present invention.

[0024] Figure label:

[0025] 1. Large-angle yaw motion device; 101. Upper mounting plate; 102. Lower mounting plate; 103. Adjustable column; 104. High-torque drive motor; 105. Six-dimensional platform mounting adapter plate; 2. Six-dimensional follow-up platform; 201. Platform mounting panel; 202. High-precision linear electric cylinder; 203. Platform lower mounting panel; 204. Ball joint; 3. Voice coil motor excitation mechanism; 301. Voice coil motor excitation mover end; 3011. Voice coil motor energized coil; 3012. Coil mounting adapter; 3013. Voice coil motor mover mounting plate; 302. Voice coil motor excitation stator end; 3021. Voice coil motor stator mounting plate; 3022. Magnetic ring mounting adapter; 3023. Voice coil motor magnetic ring; 3024. Slide rail; 3025. Slider; 3026. Position adjustment cylinder; 3027. Connecting plate; 4. Six-dimensional force sensor. Detailed Implementation

[0026] The present invention will be further described below with reference to embodiments.

[0027] Example

[0028] Please see Figures 1 to 4 As shown in the figure, the present invention provides a six-dimensional force output excitation device for a voice coil motor with feedback control, including a large-angle yaw motion device 1, a six-dimensional follower platform 2, and a voice coil motor excitation mechanism 3; the top of the six-dimensional follower platform 2 is connected to the large-angle yaw motion device 1, the bottom of the six-dimensional follower platform 2 is connected to one side of the voice coil motor excitation mechanism 3, and the other side of the voice coil motor excitation mechanism 3 is fixedly connected to a simulated satellite.

[0029] The large-angle yaw motion device 1 includes an upper mounting plate 101, a lower mounting plate 102, an adjustable column 103, a high-torque drive motor 104, and a six-dimensional platform mounting adapter plate 105. The upper mounting plate 101 is connected to the top of the adjustable column 103, and the lower mounting plate 102 is arranged parallel to the upper mounting plate 101 and connected to the bottom of the adjustable column 103. The adjustable column 103 is an electric telescopic rod (electric telescopic rod is prior art and is not shown in the attached drawings), which facilitates the adjustment of the distance between the upper mounting plate 101 and the lower mounting plate 102, thereby expanding the installation range of the six-dimensional follow-up platform 2.

[0030] The six-dimensional platform mounting adapter plate 105 is connected to the bottom of the lower mounting plate 102. A high-torque drive motor 104 is horizontally mounted on the upper side of the lower mounting plate 102. The output shaft of the high-torque drive motor and the centerline of the six-dimensional platform mounting adapter plate 105 are on the same axis. The output shaft of the high-torque drive motor 104 passes through the lower mounting plate 102 and connects to the six-dimensional platform mounting adapter plate 105. The high-torque drive motor 104 can rotate 360° along its vertical axis, thereby driving the six-dimensional platform servo platform 2 to rotate by rotating the six-dimensional platform mounting adapter plate 105, thus overcoming the limited yaw rotation range problem of the six-dimensional parallel mechanism.

[0031] The six-dimensional servo platform 2 includes a platform mounting panel 201, high-precision linear cylinders 202, and a platform under-mounted panel 203. The platform mounting panel 201 is connected to the large-angle yaw motion device 1, and the platform under-mounted panel 203 is connected to the voice coil motor excitation mechanism 3. Six high-precision linear cylinders 202 are provided, arranged in pairs, facing away from each other, and evenly distributed between the platform mounting panel 201 and the platform under-mounted panel 203. Both ends of the high-precision linear cylinders 202 are connected to the platform mounting panel 201 and the platform under-mounted panel 203 through ball joints 204. The six high-precision linear cylinders 202 perform linear extension and retraction. By controlling different length combinations of the six linear cylinders, the translation and rotation of the platform mounting panel 201 and the platform under-mounted panel 203 connected to the six cylinders can be achieved, driving the platform mounting panel 201 and the platform under-mounted panel 203 to deflect, thereby enabling the six-dimensional servo platform 2 to perform position and attitude angle deflection in six directions.

[0032] The voice coil motor excitation structure includes a voice coil motor excitation mover end 301 and a voice coil motor excitation stator end 302. The voice coil motor excitation stator end 302 is located below the voice coil motor excitation mover end 301, and there is no physical contact between the voice coil motor excitation mover end 301 and the voice coil motor excitation stator; force is generated through a magnetic field. The voice coil motor excitation mover end 301 includes several voice coil motor energized coils 3011, coil mounting adapters 3012, and a voice coil motor mover mounting plate 3013. The voice coil motor mover mounting plate 3013 is fixedly connected to the six-dimensional follower platform 2, and all the voice coil motor energized coils 3011 are located below the voice coil motor mover mounting plate 3013. One portion of the voice coil motor energized coils 3011 are vertically arranged with the voice coil motor mover mounting plate 3013, while the other portion of the voice coil motor energized coils 3011 are parallel to the voice coil motor mover mounting plate 3013. The vertically arranged voice coil motor energized coils 3011 and the parallel arranged voice coil motor energized coils 3011 are staggered, so that they can output forces in different directions. The parallel arranged voice coil motor energized coils 3011 are connected to the voice coil motor mover mounting plate 3013 through the coil mounting adapter 3012.

[0033] The voice coil motor excitation stator end 302 includes a voice coil motor stator mounting plate 3021, a magnetic ring mounting adapter 3022, and a voice coil motor magnetic ring 3023; the lower side of the voice coil motor stator mounting plate 3021 is fixedly connected to the simulated satellite, and the voice coil motor magnetic ring 3023 is disposed on the upper side of the voice coil motor stator mounting plate 3021. The distribution of the voice coil motor magnetic rings 3023 matches that of the voice coil motor energized coils 3011. The parallel-arranged voice coil motor magnetic rings 3023 are connected to the voice coil motor stator mounting plate 3021 via magnetic ring mounting adapters 3022. The voice coil motor energized coils 3011 extend to the middle of the voice coil motor magnetic rings 3023 and are concentrically arranged with the voice coil motor magnetic rings 3023. There is a gap between the voice coil motor energized coils 3011 and the voice coil motor magnetic rings 3023, meaning there is no physical contact between the voice coil motor energized coils 3011 and the voice coil motor magnetic rings 3023. Therefore, contactless force application can be achieved.

[0034] A six-dimensional force sensor 4 is installed at the bottom center of the voice coil motor excitation mechanism 3. The six-dimensional force sensor 4 can measure the force exerted by the voice coil motor stator mounting plate 3021 connected to it on the sensor itself. This force is generated by the interaction between the magnetic field generated by the current at the excitation mover end 301 of the voice coil motor after the energizing coil 3011 is energized and the magnetic field of the inherent magnetic core at the excitation stator end 302 of the voice coil motor. The measured value of the six-dimensional force sensor 4 is compared with the actual force to be achieved. If the expected force is not achieved, the input current of the voice coil motor is adjusted to adjust the magnitude of the magnetic field, thereby adjusting the force.

[0035] When the voice coil motor's energized coil 3011 is energized, it generates a magnetic field around itself. The voice coil motor's magnetic ring 3023 interacts with the magnetic field to generate an electromagnetic force. The six voice coil motor energized coils 3011 are divided into two groups. One group of three is installed parallel to the voice coil motor's mover mounting plate 3013, and the other group is installed perpendicular to the voice coil motor's mover mounting plate 3013. They can output forces in different directions. By combining the forces output by the six voice coil motors, forces of different magnitudes can be synthesized to obtain forces in any direction in space. The synthesis of forces is carried out using formulas (1)-(3), as follows:

[0036] (1)

[0037] (2) Q = U * Y;

[0038] (3)Y=[q1, q2, q3, q4, q5, q6]

[0039] Where Q is the six-dimensional resultant torque matrix; Y is the magnitude vector of the forces generated by the six voice coil motors; and U is the force distribution matrix derived from the distribution of the voice coil motors.

[0040] The six voice coil motor energizing coils use, for example Figure 5 The layout shown uses arrows to indicate the direction of thrust. To generate interference force and torque, the allocation matrix of the six voice coil motor coils is as follows:

[0041]

[0042] If only the disturbance torque is needed and no disturbance force is required, the allocation matrix of the six voice coil motor energized coils is as follows:

[0043]

[0044] The upper side of the voice coil motor stator mounting plate 3021 is provided with several evenly distributed slide rails 3024. The bottom of the magnetic ring mounting adapter 3022 is provided with a slider 3025 that is slidably connected to the slide rails 3024. The lower side of the voice coil motor stator mounting plate 3021 is provided with several position adjustment cylinders 3026. One end of the position adjustment cylinder 3026 is fixedly connected to the voice coil motor stator mounting plate 3021, and the other end of the position adjustment cylinder 3026 is connected to the slider 3025 through a position connecting plate 3027. The position adjustment cylinder 3026 can drive the slider 3025 to move on the slide rails 3024 through the position connecting plate 3027, thereby driving the voice coil motor magnetic ring 3023 to move. This facilitates the adjustment of the position of the voice coil motor magnetic ring 3023 during initial installation or disassembly, making installation and disassembly convenient.

[0045] The large-angle yaw motion device 1 and the six-dimensional follower platform 2 are connected to an external camera measurement system. This system identifies the position and attitude of the voice coil motor's excitation mover end 301 and stator end 302. The external camera measurement system has preset positions and attitudes for these two ends. When an error occurs, the external camera measurement system sends a signal to the large-angle yaw motion device 1 and the six-dimensional follower platform 2, activating the high-torque drive motor 104 to rotate the entire six-dimensional follower platform 2. This activates six linear electric cylinders to adjust the movement of the six-dimensional follower platform 2, thereby adjusting the position of the voice coil motor's excitation mover end 301, eliminating the error, and preventing changes in the distance between the voice coil motor's energized coil 3011 and the voice coil motor's magnetic ring 3023. This prevents changes in the magnitude of the generated force and ensures that the generated force remains stable at a defined value.

[0046] The specific working process is as follows: After the excitation device of this invention is assembled, the voice coil motor's energized coil is energized, generating a magnetic field around the energized coil. The interaction between the voice coil motor's magnetic ring and the magnetic field generates electromagnetic force. The forces generated by the six energized coils of the voice coil motor have different directions and magnitudes. By synthesizing the forces, a force in any direction in space is obtained. A six-dimensional force sensor is used to measure the magnitude and direction of the force. The magnitude of the magnetic field is adjusted by controlling the input current. When the output force and torque reach the set expected values, the interference force and interference torque are applied to the simulated satellite, simulating the vibration effect of the antenna on the satellite. During the force output, the position and attitude of the voice coil motor's excitation mover end and the voice coil motor's excitation stator end are monitored by an external camera measurement system. When an error occurs, the movement of the six-dimensional follower platform is adjusted by six linear electric cylinders, thereby adjusting the position of the voice coil motor's excitation mover end. This prevents changes in the distance between the energized coils of the voice coil motor and the voice coil motor's magnetic ring, keeping them in a non-contact state and ensuring the stability of the generated interference force and interference torque.

[0047] Therefore, the present invention provides a six-dimensional force output excitation device for a voice coil motor with feedback control, which uses the above-mentioned structure. By using the linkage between the voice coil motor excitation mechanism and the follower mechanism, the device utilizes the characteristic that the voice coil motor outputs different forces under different currents to achieve accurate force control. At the same time, since the force may cause positional collisions, a large-angle yaw motion device and a six-dimensional follower platform are used for tracking, so that the distance between the energized coil of the voice coil motor and the magnetic ring of the voice coil motor remains unchanged, thereby maintaining non-contact force output and greatly improving the accuracy and dimensionality of the force output.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A six-dimensional force output excitation device for a voice coil motor with feedback control, characterized in that: It includes a large-angle yaw motion device, a six-dimensional follower platform, and a voice coil motor excitation mechanism; the top of the six-dimensional follower platform is connected to the large-angle yaw motion device, the bottom of the six-dimensional follower platform is connected to one side of the voice coil motor excitation mechanism, the other side of the voice coil motor excitation mechanism is fixedly connected to a simulated satellite, the large-angle yaw motion device and the six-dimensional follower platform are connected to an external camera measurement system, and a six-dimensional force sensor is set at the center of the bottom of the voice coil motor excitation mechanism; The voice coil motor excitation mechanism includes a voice coil motor excitation mover end and a voice coil motor excitation stator end; The voice coil motor excitation mover end includes several voice coil motor energized coils, coil mounting adapters, and a voice coil motor mover mounting plate. The voice coil motor mover mounting plate is fixedly connected to the six-dimensional follower platform, and all the voice coil motor energized coils are arranged on the lower side of the voice coil motor mover mounting plate. The voice coil motor excitation stator end includes a voice coil motor stator mounting plate, a magnetic ring mounting adapter, and a voice coil motor magnetic ring; the lower side of the voice coil motor stator mounting plate is fixedly connected to the simulated satellite, and the voice coil motor magnetic ring is disposed on the upper side of the voice coil motor stator mounting plate; One part of the voice coil motor energizing coil is arranged perpendicularly to the voice coil motor mover mounting plate, and the other part of the voice coil motor energizing coil is arranged parallel to the voice coil motor mover mounting plate. The vertically arranged voice coil motor energizing coil and the parallel arranged voice coil motor energizing coil are staggered. The parallel arranged voice coil motor energizing coil is connected to the voice coil motor mover mounting plate through a coil mounting adapter. The distribution of the voice coil motor magnetic rings matches the energized coil of the voice coil motor. The parallel voice coil motor magnetic rings are connected to the stator mounting plate of the voice coil motor through the magnetic ring mounting adapter. The energized coil of the voice coil motor extends to the middle of the voice coil motor magnetic ring and is concentrically arranged with the voice coil motor magnetic ring. There is a gap between the energized coil of the voice coil motor and the voice coil motor magnetic ring. The upper side of the voice coil motor stator mounting plate is provided with several evenly distributed slide rails. The bottom of the magnetic ring mounting adapter is provided with a slider that is slidably connected to the slide rails. The lower side of the voice coil motor stator mounting plate is provided with several position adjustment cylinders. One end of the position adjustment cylinder is fixedly connected to the voice coil motor stator mounting plate, and the other end of the position adjustment cylinder is connected to the slider through a connecting plate.

2. The six-dimensional force output excitation device for a voice coil motor with feedback control according to claim 1, characterized in that: The large-angle yaw motion device includes an upper mounting plate, a lower mounting plate, an adjustable column, a high-torque drive motor, and a six-dimensional platform mounting adapter plate. The upper mounting plate is connected to the top of the adjustable column, the lower mounting plate is parallel to the upper mounting plate and connected to the bottom of the adjustable column, the six-dimensional platform mounting adapter plate is connected to the bottom of the lower mounting plate, the high-torque drive motor is horizontally mounted on the upper side of the lower mounting plate, the output shaft of the high-torque drive motor is on the same axis as the center line of the six-dimensional platform mounting adapter plate, and the output shaft of the high-torque drive motor passes through the lower mounting plate and connects to the six-dimensional platform mounting adapter plate.

3. The six-dimensional force output excitation device for a voice coil motor with feedback control according to claim 1, characterized in that: The six-dimensional servo platform includes a platform mounting panel, a high-precision linear cylinder, and a platform under-mount panel. The platform mounting panel is connected to the large-angle yaw motion device, and the platform under-mount panel is connected to the voice coil motor excitation mechanism. Multiple high-precision linear cylinders are evenly distributed between the platform mounting panel and the platform under-mount panel. Both ends of each high-precision linear cylinder are connected to the platform mounting panel and the platform under-mount panel via ball joints.

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