CN110806298B - Electrically-excited six-degree-of-freedom vibration test device - Google Patents
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- CN110806298B CN110806298B CN201911007010.7A CN201911007010A CN110806298B CN 110806298 B CN110806298 B CN 110806298B CN 201911007010 A CN201911007010 A CN 201911007010A CN 110806298 B CN110806298 B CN 110806298B
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses an electrically-excited six-degree-of-freedom vibration test device which comprises a working platform, a vibration table, a motion decoupling device, a rack and the like; the working platform is horizontally arranged, six sets of electric vibration exciting devices are connected and arranged around the working platform, and each set of electric vibration exciting device is respectively connected with the rack; each set of electric vibration exciting device comprises an electric vibration table, a switching device and a double-spherical-hinge decoupling device; the first, second and third vibrating tables are horizontal vibrating tables, and the fourth, fifth and sixth electric vibrating tables are vertical vibrating tables; the invention adopts the least 6 vibration tables, realizes the space three-axis linear vibration, the space three-axis angular vibration and the space six-freedom-degree vibration by optimally arranging the position connection relationship between the vibration tables and the working platform, realizes the function of six degrees of freedom in the real complete sense, and has the characteristics of large vibration frequency range and small waveform distortion.
Description
Technical Field
The invention belongs to the technical field of vibration test equipment in mechanical environment tests, and particularly relates to a six-degree-of-freedom vibration test device consisting of six electric vibration tables.
Background
Vibration is one of the main factors of failure of aerospace and transportation equipment. In the statistics of faults in the united states space sector, more than 50% of faults in space vehicles are related to vibration; in the fault statistics of the China aviation industry sector, equipment faults caused by vibration account for 40 percent. The product is actually in a multidimensional vibration environment and is limited by the capability of test equipment, the traditional test method is to respectively carry out unidirectional vibration tests, but the failure mechanism of some military equipment is specific to a multi-axis environment, and the unidirectional vibration test cannot reproduce multidimensional vibration response failure; military products such as certain inertia measurement assemblies, aerospace engines, warhead fuses, communication equipment and vehicle-mounted power supplies have high requirements on multi-axis vibration tests.
Multiaxis vibration test device has important demand, and the main table has: firstly, the limitation of the vibration test in the traditional mode is more prominent, which is mainly reflected in that some equipment (such as a vehicle-mounted power supply, communication equipment, a missile fuse and the like) which passes through a single-axis test according to the standard can not bear a multi-dimensional vibration environment in an external field (transportation) or use (flight) environment; and a simple multi-axis vibration environment test reveals potential faults which cannot be found by a single-axis test. Second, the loads applied by some launch vehicles to satellites, airships and space shuttles are asymmetric, and in order to further reduce the weight of the structure, it is necessary to truly simulate these multidimensional loads. Thirdly, successful application of the inertial measurement combination requires the assistance of a multidimensional vibration test; fourthly, heavy weapons, large carrier rockets, satellites and space stations carry out high-thrust vibration tests, and when the thrust of a single vibration table cannot meet the requirements, multi-vibration-table combined excitation tests are required.
At present, a three-axis six-degree-of-freedom vibration test device at home and abroad is realized in a mode of 8 hydraulic vibration tables, and the equipment has the defects of low vibration frequency and large waveform distortion due to the fact that the hydraulic vibration tables are adopted as excitation sources, and has the defects of more needed vibration sources, high cost and relatively complex control; although the number of vibration stages is small, the prior art still adopts 5 vibration generators as excitation sources, but in X, Y, Z three directions of a cartesian rectangular coordinate system, the rotation can only be realized around one direction, and the true rotation around the other two directions can not be realized simultaneously, so that the realized so-called six-degree-of-freedom function is deficient and imperfect.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a three-axis six-degree-of-freedom vibration test device consisting of six electric vibration tables, adopts the least electric vibration sources, realizes the six-degree-of-freedom function in a strict sense, and can well meet the requirements of a multi-axis six-degree-of-freedom vibration test.
The technical scheme of the invention is as follows: an electrically-excited six-freedom-degree vibration test device comprises a working platform and a machine frame; the working platform is horizontally arranged, six sets of electric vibration exciting devices are connected and arranged around the working platform, each set of electric vibration exciting device is connected with the rack, the first electric vibration exciting device, the second electric vibration exciting device and the third electric vibration exciting device are horizontal vibration exciting devices, and the fourth electric vibration exciting device, the fifth electric vibration exciting device and the sixth electric vibration exciting device are vertical vibration exciting devices; an automatic return device is also arranged between each set of electric vibration exciting device and the working platform;
establishing an XYZ rectangular coordinate system by taking the gravity center of the working platform as a coordinate origin, wherein an XOY plane is parallel to the surface of the working platform, the X-axis direction is parallel to the long edge of the working platform, the Y-axis direction is parallel to the short edge of the working platform, and the Z-axis direction is vertically upward;
the first electric excitation device is arranged on the side face of the short side of the working platform along the positive direction of the X axis; the second electric excitation device and the third electric excitation device are arranged on the long side surface of the working platform in parallel with the positive direction of the Y axis and are symmetrically arranged about the YOZ plane; the fourth electric excitation device, the fifth electric excitation device and the sixth electric excitation device are arranged on the bottom surface of the working platform along the positive direction of the Z axis, the fourth electric excitation device and the sixth electric excitation device are symmetrically arranged about the YOZ plane, and the midpoint of the connecting line of the fourth electric excitation device and the sixth electric excitation device is symmetrical to the fifth electric excitation device about the XOZ plane.
Furthermore, each set of electric vibration exciting device comprises an electric vibration table, a switching device and a double-spherical-hinge decoupling device, wherein the switching device is positioned between the electric vibration table and the double-spherical-hinge decoupling device, two ends of the switching device are respectively fixedly connected with the electric vibration table and the double-spherical-hinge decoupling device, the double-spherical-hinge decoupling device is fixedly connected with the working platform, and the electric vibration table is fixedly connected with the rack.
Furthermore, the automatic return device comprises a forward position adjusting air bag, a reverse position adjusting air bag, an adjusting connecting piece, a vibrating table guide shaft and a vibrating table moving coil; the forward position adjusting air bag and the reverse position adjusting air bag are distributed on two sides of the adjusting connecting piece and are rigidly connected with the adjusting connecting piece, and the other sides of the forward position adjusting air bag and the reverse position adjusting air bag are fixedly connected with the electric vibration exciting device; the adjusting connecting piece is rigidly connected with a guide shaft of the vibrating table, the vibrating guide shaft is rigidly connected with a moving coil of the vibrating table, and the moving coil of the vibrating table is fixedly connected with the working platform.
Furthermore, the double-ball-hinge decoupling device comprises two ball joints, and can be a hydraulic lubrication decoupling device or a mechanical lubrication decoupling device.
Furthermore, the working platform is formed by casting or welding casting of magnesium alloy or aluminum alloy.
Furthermore, the bottom of the frame is also provided with a vibration isolation device.
Further, the vibration isolation device is a vibration isolation air spring or an integral vibration isolation foundation.
Furthermore, a hoisting device is further arranged on the rack.
The line vibration implementation principle is as follows: the first vibration table independently vibrates to realize the X-direction vibration of the working platform; the second vibrating table and the third vibrating table simultaneously vibrate at the same frequency and the same phase, so that the working platform can vibrate along the Y axis; the fourth, fifth and sixth vibrating tables vibrate at the same frequency and the same phase at the same time to realize the linear vibration of the working platform along the vertical Z direction.
The principle of angular vibration is as follows: the second and third vibrating tables vibrate in opposite phases at the same frequency, so that the angular vibration of the working platform around the Z axis can be realized; the fourth vibration table and the sixth vibration table simultaneously vibrate in the same frequency and opposite phases, so that the angular vibration of the working platform around the Y axis can be realized; the fifth shaking table can realize the angular vibration of the working platform around the X axis by jointly vibrating with the fourth shaking table and the sixth shaking table, wherein the fourth shaking table and the sixth shaking table are required to simultaneously vibrate at the same frequency and the same phase, and the fifth shaking table and the fourth shaking table and the sixth shaking table simultaneously vibrate at the same frequency and the opposite phase.
The invention adopts the fewest vibration tables 6, and realizes the function of six degrees of freedom in the real and complete sense by optimizing the position connection relation between the vibration tables and the working platform; the electric vibration table is adopted as a vibration exciter to provide vibration excitation with wide frequency range and small waveform distortion, so that the working platform can output broadband low-distortion vibration; the switching device and the hydraulic double-spherical-hinge decoupling device can well transmit high-frequency vibration, bear the weight of a test piece and provide spatial motion decoupling; the working platform has a spatial automatic return function by adopting a bidirectional automatic return device; the device can realize the functions of spatial triaxial linear vibration, spatial triaxial angular vibration and spatial six-degree-of-freedom vibration.
Drawings
FIG. 1 is an isometric view of a vibration testing apparatus of the present invention.
FIG. 2 is a side view of the vibration testing apparatus of the present invention.
FIG. 3 is a bottom view of the vibration testing apparatus of the present invention.
Fig. 4 is a schematic view of the coupling of the decoupling device to the work platform.
Fig. 5 is a schematic view of the coupling of the decoupling assembly to another perspective of the work platform.
Fig. 6 is a schematic view of a double ball-hinge decoupling assembly.
Fig. 7 is a schematic view of the automatic return device.
FIG. 8 is a schematic view of the adapter device.
The labels in the figure are: 1. a first vibration table; 2. a second vibration table; 3. a third vibration table; 4. a fourth vibration table; 5. a fifth vibration table; 6. a sixth vibration table; 7. a first double-spherical-hinge decoupling device; 8. a second double spherical hinge decoupling device; 9. a third double-spherical hinge decoupling device; 10. a fourth double-spherical hinge decoupling device; 11. a fifth double-spherical hinge decoupling device; 12. a sixth double-ball hinge decoupling device; 13. a working platform; 14. a frame; 15. a hoisting device; 16. a vibration isolation air spring; 17. a switching device; 18. short side faces; 19. a long side surface; 20. a first ball joint; 21. a connecting ball joint; 22. a second ball joint; 23. a vibrating table moving coil; 24. a vibration table guide shaft; 25. a reverse position adjustment airbag; 26. adjusting the connecting piece; 27. a positive position adjustment bladder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-6, the six-degree-of-freedom vibration testing device comprises a working platform 13 and a frame 14; the working platform is horizontally arranged, has a T shape as shown in the figure, has certain length, width and thickness, and is provided with a long side surface 19 and a short side surface 18; six double-spherical-hinge decoupling devices are connected and arranged around the working platform, each double-spherical-hinge decoupling device is connected with one vibration table through a switching device 17, six vibration tables are formed, and each vibration table is fixedly connected with the rack 14. The frame 14 is also provided with a hoisting device 15, and the bottom of the frame is provided with a plurality of vibration isolation air springs 16.
Establishing an XYZ rectangular coordinate system as shown in FIG. 4 with the center of gravity of the working platform as an origin; wherein the XOY plane is parallel to the surface of the working platform, the X-axis direction is parallel to the long edge of the working platform, the Y-axis direction is parallel to the short edge of the working platform, and the Z-axis direction is vertically upward.
The six degree-of-freedom decoupling mechanism of the device is shown in figures 4 and 5. The working platform 13 is connected with six double-ball-winch decoupling devices. The arrangement of six double-ball-hinge decoupling devices is as follows: the X direction is a first double-ball-hinge decoupling device 7; two double-ball- hinge decoupling devices 8 and 9 in the Y direction are symmetrically arranged by taking the YOZ plane as a center; three double-ball- hinge decoupling devices 10, 11, 12 in the Z direction, 10 and 12 are symmetrically arranged by taking the YOZ plane as a center, and the midpoints of connecting lines of 11, 10 and 12 are symmetrically arranged by taking the XOZ plane as a center. By the arrangement, the first, second and third vibration tables 1, 2 and 3 connected with the double-ball-hinge decoupling device are horizontal vibration tables, and the fourth, fifth and sixth vibration tables 4, 5 and 6 are vertical vibration tables.
The device can realize linear vibration and angular vibration of the working platform in space. The electric vibration table is a vibration generating device and has the advantages of large frequency range and small waveform distortion compared with a hydraulic vibration table and a mechanical vibration table; the working platform is a carrier of a test piece, is usually manufactured by casting or welding magnesium alloy or aluminum alloy, and has higher rigidity and smaller mass. The system realizes the synthetic motion of six-degree-of-freedom vibration in three orthogonal directions through the working platform; the double-ball-hinge decoupling device can be a hydraulic lubrication decoupling device or a mechanical lubrication decoupling device, has simple structure, convenient installation and high axial rigidity, can transmit high-frequency vibration, has two ball joints, and can carry out linear vibration along any straight line or angular vibration around any rotating shaft in space when being used independently, so that the double-ball-hinge decoupling device is used for decoupling a six-degree-of-freedom system without restricting any degree of freedom and can realize six-degree-of-freedom motion; the bottom of the device is provided with a vibration isolation air spring for isolating the influence of the vibration generated by the equipment on a test site, and the bottom vibration isolation air spring can be replaced by an integral foundation vibration isolation mode. The device is provided with an integral hoisting installation mechanism for integrally hoisting the equipment.
It should be noted that although the excitation source chosen by the present invention is an electric vibration table, it can also be a hydraulic vibration table and a mechanical vibration table, thereby realizing a six-degree-of-freedom vibration function. Meanwhile, a bidirectional static position control function can be added between the vibrating table and the working platform, so that the working platform can have a space automatic return function.
Example 1
Designing a working platform, wherein the size of an outer envelope is 1.3M multiplied by 1M multiplied by 0.2M, the optimized design mass is 130kg, the working platform is cast by magnesium alloy, meanwhile, connecting threaded holes with the double-ball-twist decoupling devices are reserved according to the arrangement modes of figures 4 and 5, and the connecting threaded holes of each double-ball-twist decoupling device are 8M 12 internal threads with the diameter of 190 mm.
The double-ball-joint decoupling device is shown in fig. 6, and the main components are a first ball joint 20, a second ball joint 22 and a connecting ball joint 21. The first ball joint 20 and the connecting ball joint 21 form spherical matching and have a spatial rotational degree of freedom; the second ball joint 22 and the connecting ball joint 21 form a second spherical fit with a spatial rotational degree of freedom. The combination of the two spatial rotational degrees of freedom enables the first ball joint and the second ball joint to form relative movement. Therefore, the device can realize the translation and rotation of the two connected components.
The double-ball-hinge decoupling device is fixedly connected with the working platform through 8M 12 threads uniformly distributed on the working platform with the diameter of 190 mm. After the 6 double-ball-hinge decoupling devices are connected with the working platform, an assembly body shown in fig. 4 and 5 is formed. An integrated frame 14 is designed, the size of an outer envelope is 3m multiplied by 2.6m multiplied by 1m, and the height difference between the installation plane of a horizontal vibrating table and the installation plane of a vertical vibrating table of the frame is ensured to ensure that the center of the horizontal vibrating table is coincided with the vertical central plane of a working platform. Connecting holes are reserved in the frame for the air spring, the vibration table and the lifting device.
The vibration table is an electric vibration table with rated thrust of 40kN, the working frequency range is 2-2800Hz, the rated displacement is 51mm (peak-peak), the size is 1336mm multiplied by 860mm multiplied by 1178mm, the weight is 2.5 tons, and the output plane of the vibration table is connected with 8M 10 internal thread holes with the size being uniformly distributed on the diameter of 150mm and 8M 10 internal thread holes with the size being uniformly distributed on the diameter of 300 mm. The vibration table and the double-ball-hinge decoupling device are connected through a metal switching component.
The metal switching part is as shown in fig. 8, selects for use aluminum alloy processing to form, and one end links to each other with electronic shaking table, and the connected mode is the equipartition in 8M 10 bolts of diameter 300mm, see 8 shoulder holes that the inner circle was arranged in fig. 8, and the other end is connected with two ball twist decoupling zero devices, and the connected mode is the equipartition in 8M 12 bolts of diameter 190mm, see 8M 12 screw holes that the outer circle was arranged in fig. 8. After the vibration table is adjusted to a proper position, the vibration table is connected with the rack through bolts.
The spatial self-righting means is implemented in the manner of figure 7. Each vibration table is provided with a forward position adjusting air bag 27 and a reverse position adjusting air bag 25, and the forward position adjusting air bag 27 or the reverse position adjusting air bag 25 is automatically controlled to be inflated or deflated in real time by measuring the offset of the movable coil 23 of the vibration table relative to the balance position in real time, so that the automatic bidirectional adjustment of the position of the movable coil 23 of the vibration table is realized. The specific implementation mode is as follows: the oscillating table moving coil 23 is rigidly connected to the guide shaft 24. The guide shaft 24 is rigidly connected to the adjustment link 26. The adjusting link 26 is rigidly connected to the forward position adjusting airbag 27 and the reverse position adjusting airbag 25 on both sides, respectively. The forward adjusting air bag 27 and the reverse adjusting air bag 25 are connected with the adjusting connecting piece 26 at one end and the fixed part of the table body of the vibration table at the other end, so that the relative movement of the movable coil of the vibration table relative to the position of the table body is realized. The two-way adjustment of each vibrating table moving coil can be realized through the above mode, so that the working table surface connected with the vibrating table moving coil can realize automatic return.
The position arrangement of the vibration table is carried out as follows: 1. the three vibration tables 2 and 3 are horizontal vibration tables, the installation heights are consistent, the vibration table 1 is installed in the X-axis direction, and the vibration tables 2 and 3 are installed in the Y-axis direction. 2. 3 the output planes of the oscillating tables are coplanar in the Y-axis direction and are at a distance of 1100mm in the X-axis direction. 4. 5, 6 shaking table is the vertical shaking table, and the installation height is unanimous, and the installation direction is unanimous and is the Z axle direction. 4. 6 the distance of the vibration table in the Y-axis direction is 0 and the distance in the X-axis direction is 1100 mm. The 5 vibration table and the 4 and 6 vibration tables are symmetrical relative to the XOZ plane, and the vertical distance between the 5 vibration table and a connecting line of the 4 and 6 vibration tables is 775 mm.
The way in which this example achieves three axis vibration is: controlling the X-axis vibration table 1 to vibrate according to a specified vibration waveform; controlling the Y-axis vibration tables 2 and 3 to vibrate according to a specified vibration waveform, wherein the vibration control requirements of the 2 and 3 vibration tables are the same in frequency and phase; the Z-axis vibration tables 4, 5 and 6 are controlled to vibrate according to a specified vibration waveform, and the vibration control of the Z-axis vibration tables 4, 5 and 6 requires the same frequency and the same phase. Thus, the X, Y, Z three-axis line vibrations are combined at the work platform as a spatial three-axis vibration.
The mode of realizing the three-axis angular vibration in the embodiment is as follows: controlling the 2 and 3 vibration tables to vibrate according to a specified vibration waveform, wherein the vibration control requirements of the 2 and 3 vibration tables are simultaneously in the same frequency and opposite phase, so that angular vibration around the Z axis is formed; controlling the 4 and 6 vibration tables to vibrate according to a specified vibration waveform, wherein the vibration control requirements of the 4 and 6 vibration tables are simultaneously in the same frequency and opposite phase, so that angular vibration around the Y axis is formed; controlling the 5, 4, 6 vibration table to vibrate according to a specified vibration waveform, wherein the vibration control of the 4, 6 vibration table requires the same frequency and the same phase at the same time, and the average values of 5 and 4, 6 are equal and opposite in phase at the same time, thereby forming angular vibration around the X axis. Thus, angular vibration about the three axes X, Y, Z is collectively referred to as spatial triaxial angular vibration at the work platform.
The implementation mode of the space six-degree-of-freedom in the embodiment is as follows: and superposing the vibration conditions of the space linear vibration and the space angular vibration to form six-degree-of-freedom vibration of linear vibration and angular vibration.
It should be understood by those skilled in the art that although six vibration tables are adopted to realize six-degree-of-freedom vibration in the present invention, under the teaching of the present invention, 3 vibration tables can be selected to form a 3-degree-of-freedom vibration system, 4 vibration tables can be selected to form a 4-degree-of-freedom vibration system, and 5 vibration tables can be selected to form a 5-degree-of-freedom vibration system, and the above technical solutions are all covered in the protection scope of the present patent.
Claims (6)
1. The utility model provides an electric excitation's six degrees of freedom vibration test device which characterized in that: comprises a working platform and a frame; the working platform is horizontally arranged, six sets of electric vibration exciting devices are connected and arranged around the working platform, each set of electric vibration exciting device is connected with the rack, the first electric vibration exciting device, the second electric vibration exciting device and the third electric vibration exciting device are horizontal vibration exciting devices, and the fourth electric vibration exciting device, the fifth electric vibration exciting device and the sixth electric vibration exciting device are vertical vibration exciting devices; an automatic return device is also arranged between each set of electric vibration exciting device and the working platform;
establishing an XYZ rectangular coordinate system by taking the gravity center of the working platform as a coordinate origin, wherein an XOY plane is parallel to the surface of the working platform, the X-axis direction is parallel to the long edge of the working platform, the Y-axis direction is parallel to the short edge of the working platform, and the Z-axis direction is vertically upward; the first electric vibration exciting device is arranged on the side face of the short side of the working platform along the positive direction of the X axis; the second electric vibration exciting device and the third electric vibration exciting device are arranged on the side face of the long side of the working platform in parallel with the positive direction of the Y axis and are symmetrically arranged about the YOZ plane; the fourth, fifth and sixth electric vibration exciting devices are arranged on the bottom surface of the working platform along the positive direction of the Z axis, the fourth electric vibration exciting device and the sixth electric vibration exciting device are symmetrically arranged about the YOZ plane, and the midpoint of the connecting line of the fourth electric vibration exciting device and the sixth electric vibration exciting device is symmetrical to the fifth electric vibration exciting device about the XOZ plane; each set of electric vibration excitation device comprises an electric vibration table, a switching device and a double-spherical-hinge decoupling device, wherein the switching device is positioned between the electric vibration table and the double-spherical-hinge decoupling device, two ends of the switching device are respectively and fixedly connected with the electric vibration table and the double-spherical-hinge decoupling device, the double-spherical-hinge decoupling device is fixedly connected with the working platform, and the electric vibration table is fixedly connected with the rack; the automatic return device comprises a forward position adjusting air bag, a reverse position adjusting air bag, an adjusting connecting piece, a vibrating table guide shaft and a vibrating table moving coil; the forward position adjusting air bag and the reverse position adjusting air bag are distributed on two sides of the adjusting connecting piece and are rigidly connected with the adjusting connecting piece, and the other sides of the forward position adjusting air bag and the reverse position adjusting air bag are fixedly connected with the electric vibration exciting device; the adjusting connecting piece is rigidly connected with a guide shaft of the vibrating table, the vibrating guide shaft is rigidly connected with a moving coil of the vibrating table, and the moving coil of the vibrating table is fixedly connected with the working platform.
2. The electrically-excited six-degree-of-freedom vibration testing apparatus of claim 1, wherein: the double-spherical-hinge decoupling device is selected from one of a hydraulic lubrication decoupling device or a mechanical lubrication decoupling device and comprises two spherical joints.
3. The electrically-excited six-degree-of-freedom vibration testing apparatus of claim 1, wherein: the working platform is formed by casting or welding casting of magnesium alloy or aluminum alloy.
4. The electrically-excited six-degree-of-freedom vibration testing apparatus of claim 1, wherein: the bottom of the frame is also provided with a vibration isolation device.
5. The electrically-excited six-degree-of-freedom vibration testing apparatus of claim 4, wherein: the vibration isolation device is a vibration isolation air spring or an integral vibration isolation foundation.
6. The electrically-excited six-degree-of-freedom vibration testing apparatus of claim 1, wherein: and the rack is also provided with a hoisting device.
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| CN201911007010.7A CN110806298B (en) | 2019-10-22 | 2019-10-22 | Electrically-excited six-degree-of-freedom vibration test device |
| PCT/CN2020/120790 WO2021078044A1 (en) | 2019-10-22 | 2020-10-14 | Electrically excited six-degrees-of-freedom vibration test device |
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| CN110806298B (en) * | 2019-10-22 | 2021-06-11 | 北京航天希尔测试技术有限公司 | Electrically-excited six-degree-of-freedom vibration test device |
| CN111912592A (en) * | 2020-07-31 | 2020-11-10 | 上海卫星工程研究所 | Staring camera micro-vibration test equipment and method |
| CN113532782A (en) * | 2021-08-03 | 2021-10-22 | 北京航天希尔测试技术有限公司 | Eight-drive six-degree-of-freedom electric vibration test device with adjustable space pose |
| CN113959666A (en) * | 2021-09-09 | 2022-01-21 | 北京航天希尔测试技术有限公司 | Twelve-shaft-driven air-cooled vibration test device |
| CN114414186A (en) * | 2021-12-10 | 2022-04-29 | 北京航天希尔测试技术有限公司 | Three-degree-of-freedom electric vibration test system with isotropic layout |
| CN116907781B (en) * | 2023-09-13 | 2023-11-28 | 中国科学院长春光学精密机械与物理研究所 | Micro-vibration simulation and active-passive vibration isolation integrated experimental platform |
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