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http://dx.doi.org/10.3795/KSME-A.2008.32.2.202

Inverse and Forward Kinematics Analysis of 6 DOF Multi Axis Simulation Table and Verification  

Jin, Jae-Hyun (순천대학교 기계우주항공공학부)
Jeon, Seung-Bae (JKS㈜, 조선대학교 대학원 항공우주공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.32, no.2, 2008 , pp. 202-208 More about this Journal
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.
Keywords
Multi Axis Simulation Table; Kinematics Analysis; Inverse Kinematics; Forward Kinematics;
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  • Reference
1 MTS Systems Corp., http://www.mts.com
2 JKS Corp., http://www.jksco.com
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