Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Inverse and Forward Kinematics Analysis of 6 DOF Multi Axis Simulation Table and Verification

6 자유도 다축 시뮬레이션 테이블의 역.순기구학 해석 및 검증

  • 진재현 (순천대학교 기계우주항공공학부) ;
  • 전승배 (JKS㈜, 조선대학교 대학원 항공우주공학과)
  • Published : 2008.02.05
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Abstract

A 6 DOF Multi axis simulation table (MAST) is used to perform vibration and fatigue tests for parts or assemblies of automobiles, aircraft, or other systems. It consists of a table and 6 linear actuators. For its attitude control, we have to adjust the lengths of 6 actuators properly. The system is essentially a parallel mechanism. Three actuators are connected to the table directly and other three actuators are connected indirectly. Because of these, the MAST shows also a serial mechanism#s property: the inverse kinematics is more complicated than a pure parallel mechanism and each actuator can operate independently. The authors have performed a kinematics analysis of the 6 DOF MAST. We have presented an analytical and a numerical solution for the inverse and forward kinematics, and we have verified the solutions by a 3D CAD software.

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References

  1. MTS Systems Corp., http://www.mts.com
  2. JKS Corp., http://www.jksco.com
  3. Ha, H. P. and Han, M. C., 2001, 'A fast Forward Kinematic Analysis of Stewart Platform,' Transaction of the KSME (A), Vol. 25, No. 3, pp. 339~352
  4. Goo, S. and Son, K., 2001, 'Study on forward kinematics of Stewart Platform Using Neural Network Algorithm Together with Newton-Raphson Method,' Transactions of the KSAE, Vol. 9, No. 1, pp.156~162
  5. Jung, G. H. and Lee, K. I., 1994, 'Real-time Estimation of Stewart Platform Forward Kinematic Solution,' Transaction of the KSME, Vol. 18, No. 7, pp.1632~1642