The pose real-time solution and control of the 6-Dof loading platform for bogie test

Liu, Yumei; Cao, Xiaoning; Su, Jian; Wang, Li; Guo, Wang

doi:10.1109/tmee.2011.6199678

Cited by 1 publication

(1 citation statement)

References 7 publications

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“…For convenience, the local coordinate system was introduced into the kinematic analysis 27 of the test bench. The intersection of the transverse and vertical symmetrical section of the upper 6-DOF motion platform projected at the horizontal plane was selected as the origin of the global coordinate system.…”

Section: Kinematics Analysismentioning

confidence: 99%

Workspace analysis of the bogie 6-degree-of-freedom dynamic simulation test bench

Liu

Zhuang

Wang

et al. 2019

Advances in Mechanical Engineering

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The bogie 6-degree-of-freedom dynamic simulation test bench can simulate various operating conditions of the bogie through coordinated movement of the three parallel 6-degree-of-freedom motion platforms; however, the motion of the platforms will be interfered by some space obstacles. In order to obtain the collision-free workspace of the 6degree-of-freedom motion platforms, a limit boundary-search method based on the collision-detection model is proposed. The structure of three parallel 6-degree-of-freedom motion platforms is analyzed, and its inverse kinematics model is established. Considering its internal constraints, the constraint models of the actuators' stroke and the spherical hinges angle are established. Based on the collision-detection method between convex polygons, the minimum distancedetection models between platforms and obstacles as well as between actuators and obstacles are established. Then the limit boundary-search method is used to search for all boundary points that satisfy the constraint conditions. Finally, the correctness and feasibility of the proposed method and models are verified by some simulation examples. The proposed research avoids collisions effectively and provides a reference for the optimal design of the test bench.

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Section: Kinematics Analysismentioning

confidence: 99%