Kinematic Analysis of Multi Axis Shaking Table for Multi-Purpose Test of Heavy Transport Vehicle
고하중 차량의 다목적 테스트를 위한 다축 가진 테이블의 기구학 해석

Jae-Hyun Jin, Hong-Cheoul Na, Seung-Bae Jeon
2012 Journal of Institute of Control Robotics and Systems  
An excitation table is commonly used for vibration and ride tests for parts or assemblies of automobiles, aircrafts, or other heavy systems. The authors have analyzed several kinematic properties of an excitation table that is under development for heavy transport vehicles. It consists of one table and 7 linear hydraulic actuators. The authors have performed mobility analysis, inverse kinematics, forward kinematics, and singularity analysis. Especially, we have proposed a fast forward kinematic
more » ... t forward kinematic solution considering the limited motion of the excitation table. On the assumption that the motion variables such as rotation angles and displacements are small, the forward kinematic problem is converted to the observer problem of a linear system. This provides a fast solution. Also we have verified that there are no singularity points in the working range by numerical analysis.
doi:10.5302/j.icros.2012.18.9.823 fatcat:oqub7hmutjdjnjjct6f67q6yjm