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http://dx.doi.org/10.5302/J.ICROS.2012.18.9.823

Kinematic Analysis of Multi Axis Shaking Table for Multi-Purpose Test of Heavy Transport Vehicle  

Jin, Jae-Hyun (Sunchon National University)
Na, Hong-Cheoul (Chonnam National University)
Jeon, Seung-Bae (JKS)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.9, 2012 , pp. 823-829 More about this Journal
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.
Keywords
multi axis shaking table; parallel mechanism; redundant actuator; fast forward kinematic solution; singularity check;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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