Kinematics Analysis Of Shanking Table With Redundant Actuation

3-Dimension 6-DOF hydraulic shaking experimental system is an important apparatus which is used in the engineering research, and it is widely applied to many main industrial fields such as aerospace, automobile, architecture, material, etc. Anti-vibration is used to research and checkout the performance of anti-vibration of specimen by riveting specimen to the table and simulating real vibration by exciters, and it also can be used to research how to reduce the damages caused by the vibration. With the development of the engineering, the requirement of the performance is increasing. Therefore, the research on shaking table has been becoming an important object.After that the shaking table was studied including the table's structure, performance, development and application prospect etc, the forward and inverse position solution of shaking table is analyzed.In this thesis, the table's inverse position solution is first analyzed. Using vector analyses, we get a constrain systems including eight nonlinear equations. Establish the relationship between the input values and the output values. The inverse position solution is resolved when shaking table's posture (six dimensions) is treated as input values. Then, the forward position solution is researched. Actually, this is to resolve an over-determined nonlinear system including six output values and eight input values. So Newton-Gauss iterative algorithms is used, set up the target function in the sense of the least squares. It is discussed whether the minimal solution to the function exist and is single one while the astringency of Newton-Gauss method is analyzed. The minimal values are treated as the forward position values.Finally, the accuracy of the arithmetic was analyzed while it was validated that how long time the arithmetic consumes. A great deal of simulation is done and it demonstrates the validity of the arithmetic.