6通道半轴试验台运动学与逆动力学分析

2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI:10.1109/ICRAE53653.2021.9657823

Fu Yi-Meng, Zhou Xiao-jun, Yang Xue-Feng, Xiao Peng

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引用次数: 1

摘要

针对6通道半轴试验台的反动力学分析，采用闭环向量链法和Kane法建立了串并联混合动力机构的反动力学模型。在MATLAB/Simulink中对Kane方法模型进行仿真，在Adams中对虚拟样机模型进行仿真。最后的仿真结果表明，上述动力学模型是有效的，适用于6通道半轴试验平台。

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Kinematics and Inverse Dynamic Analysis of a 6 Channel Half-axle Test Rig

For the inverse dynamic analysis of the 6 channel half-axle test rig, the inverse dynamics model is established for the series-parallel hybrid mechanism by using the closed-loop vector chain method and Kane's method. Kane's method model is simulated in MATLAB/Simulink, while the virtual prototype model is simulated in Adams. The results of the final simulation show that the preceding dynamic model is efficient and adapted to the 6-channel half-axle test platform.

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2021 6th International Conference on Robotics and Automation Engineering (ICRAE)

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