Kineto-Elastodynamic Characteristics of the Six-Degree-of-Freedom Parallel Structure Seismic Simulator

<table>Displacement responses of the moving platform.(a) <svg height="7.1624999" id="M291" style="vertical-align:-0.11285pt" version="1.1" viewbox="0 0 8.7250004 7.1624999" width="8.7250004" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.1625)">
<g transform="translate(72,-66.27)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑥</tspan>
</text>
</g>
</g>
</svg> direction,  (b) <svg height="9.8625002" id="M292" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 7.875 9.8625002" width="7.875" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,9.8625)">
<g transform="translate(72,-64.11)">
<text transform="matrix(1,0,0,-1,-71.95,66.45)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑦</tspan>
</text>
</g>
</g>
</svg> direction,  (c) <svg height="7.375" id="M293" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 7.9250002 7.375" width="7.9250002" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.375)">
<g transform="translate(72,-66.1)">
<text transform="matrix(1,0,0,-1,-71.95,66.32)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑧</tspan>
</text>
</g>
</g>
</svg> direction, (d) <svg height="14.575" id="M294" style="vertical-align:-3.21404pt" version="1.1" viewbox="0 0 16.85 14.575" width="16.85" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.575)">
<g transform="translate(72,-60.34)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜙</tspan>
</text>
<text transform="matrix(1,0,0,-1,-63.89,60.47)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑥</tspan>
</text>
</g>
</g>
</svg> direction, (e) <svg height="16.475" id="M295" style="vertical-align:-4.74141pt" version="1.1" viewbox="0 0 16.25 16.475" width="16.25" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,16.475)">
<g transform="translate(72,-58.82)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜙</tspan>
</text>
<text transform="matrix(1,0,0,-1,-63.89,60.47)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑦</tspan>
</text>
</g>
</g>
</svg> direction, and  (f) <svg height="14.625" id="M296" style="vertical-align:-3.25793pt" version="1.1" viewbox="0 0 16.2875 14.625" width="16.2875" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.625)">
<g transform="translate(72,-60.3)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜙</tspan>
</text>
<text transform="matrix(1,0,0,-1,-63.89,60.47)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑧</tspan>
</text>
</g>
</g>
</svg> direction.</table>

Journal of Robotics

fig8

Figure 8

Figure 8: Kineto-Elastodynamic Characteristics of the Six-Degree-of-Freedom Parallel Structure Seismic Simulator 