文章基本信息

标题：Workspace analysis of the bogie 6-degree-of-freedom dynamic simulation test bench
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作者：Yumei Liu
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2019
卷号：11
期号：3
页码：1-12
DOI：10.1177/1687814019827146
出版社：Sage Publications Ltd.
摘要：The bogie 6-degree-of-freedom dynamic simulation test bench can simulate various operating conditions of the bogie through coordinated movement of the three parallel 6-degree-of-freedom motion platforms; however, the motion of the platforms will be interfered by some space obstacles. In order to obtain the collision-free workspace of the 6-degree-of-freedom motion platforms, a limit boundary–search method based on the collision-detection model is proposed. The structure of three parallel 6-degree-of-freedom motion platforms is analyzed, and its inverse kinematics model is established. Considering its internal constraints, the constraint models of the actuators’ stroke and the spherical hinges angle are established. Based on the collision-detection method between convex polygons, the minimum distance-detection models between platforms and obstacles as well as between actuators and obstacles are established. Then the limit boundary–search method is used to search for all boundary points that satisfy the constraint conditions. Finally, the correctness and feasibility of the proposed method and models are verified by some simulation examples. The proposed research avoids collisions effectively and provides a reference for the optimal design of the test bench.
关键词：6-degree-of-freedom motion platform;constraint;collision detection;limit boundary search;workspace analysis