TY - GEN
T1 - Forward kinematics analysis of the spindle-coupled road simulator with modified Newton-raphson algorithm
AU - Wang, Xiao
AU - Zhang, Yanyan
AU - Cong, Dacheng
AU - Han, Junwei
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/20
Y1 - 2017/10/20
N2 - The forward kinematics analysis of the six-degree-of-freedom(DOF) spindle-coupled road simulator (SCRS) with a complex hybrid serial-parallel mechanism(HSPM) has been performed. The forward kinematics with an efficient method is significant for control, singularity and workspace analysis of SCRS. Applying the vector matrix theory, the geometric restriction function was expressed in concise and compact form. A modified Newton-Raphson algorithm which could guarantee the convergence and improve the rapidity was proposed to solve the problem of the forward kinematics. The validity of forward kinematic formulations was verified through Matlab/Simulink and ADAMS. The numerical results show that the established model is accurate and the algorithm is effective which lays a good foundation for both mechanical system optimization and control scheme design of SCRS.
AB - The forward kinematics analysis of the six-degree-of-freedom(DOF) spindle-coupled road simulator (SCRS) with a complex hybrid serial-parallel mechanism(HSPM) has been performed. The forward kinematics with an efficient method is significant for control, singularity and workspace analysis of SCRS. Applying the vector matrix theory, the geometric restriction function was expressed in concise and compact form. A modified Newton-Raphson algorithm which could guarantee the convergence and improve the rapidity was proposed to solve the problem of the forward kinematics. The validity of forward kinematic formulations was verified through Matlab/Simulink and ADAMS. The numerical results show that the established model is accurate and the algorithm is effective which lays a good foundation for both mechanical system optimization and control scheme design of SCRS.
KW - Forward Kinematics
KW - Newton-Raphson algorithm
KW - Spindle-coupled road simulator
KW - Vector matrix theory
UR - http://www.scopus.com/inward/record.url?scp=85039937646&partnerID=8YFLogxK
U2 - 10.1109/ICInfA.2017.8078897
DO - 10.1109/ICInfA.2017.8078897
M3 - 会议稿件
AN - SCOPUS:85039937646
T3 - 2017 IEEE International Conference on Information and Automation, ICIA 2017
SP - 148
EP - 152
BT - 2017 IEEE International Conference on Information and Automation, ICIA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Information and Automation, ICIA 2017
Y2 - 18 July 2017 through 20 July 2017
ER -