Design of an Earthquake Simulator Based on a Cable Driven Parallel Robot

Due to the fact that an earthquake cannot be predicted, the simulation of earthquakes using earthquake simulators is of great importance. An earthquake simulator is a device that reproduces the seismic waves that all generated by an earthquake. The aim of this work is present the design and prototyping earthquake simulator that simulates a real long-period ground motion earthquake with vertical displacement, according to the earthquake seismogram. A prototype of an earthquake simulator for simulating a real long-period ground motion during an earthquake with a vertical displacement, according to a given earthquake seismogram, was designed. A control interface of the prototype earthquake simulator is designed, to handle reproducing a given earthquake seismogram. The mobile platform of the earthquake simulator prototype performs translational motions in the direction of the X and Y axes due to the use of a cable driven parallel robot, and the vertical translational motion of the platform along the Z axis is performed by linear screw drives. Experimental tests of the earthquake simulator prototype were carried out, which confirmed the feasibility of reproducing long-period ground motion during an earthquake.鉴于地震尚无法实现精准预测，借助地震模拟器开展地震模拟研究具有重要意义。地震模拟器是一种可复现地震所产生的全部地震波的装置。本研究旨在提出一款可依据地震图（earthquake seismogram）复现带垂直位移的真实长周期地面运动地震的地震模拟器设计方案与原型样机。本次研究完成了一款可依据给定地震图，复现地震过程中带垂直位移的真实长周期地面运动的地震模拟器原型样机的设计。该地震模拟器原型样机配备了控制界面，用于实现给定地震图的复现操作。该模拟器原型的移动平台借助绳索驱动并联机器人（cable driven parallel robot）实现X、Y轴方向的平动，而平台沿Z轴的垂直平动则由直线丝杠驱动器（linear screw drives）完成。针对该地震模拟器原型样机开展了实验测试，实验结果证实了复现地震过程中长周期地面运动的可行性。