Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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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

  • 진재현 (순천대학교 우주항공공학전공) ;
  • 나홍철 (전남대학교 기계공학과 대학원, (주) JKS) ;
  • 전승배 ((주) JKS)
  • Received : 2012.03.30
  • Accepted : 2012.08.17
  • Published : 2012.09.01
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Abstract

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 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.

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