Kinematic And Analysis Of Structure Parameters Of6-DOF Spindle Coupled Simulator

6-DOF spindle coupled simulator is a representative of the most advancedequipment in vehicle interior fatigue test. In recent years, it has been widely used invehicle fatigue test, with its characteristics of accurately reproduce the themultidirectional stress state. This thesis study the mechanism property, thekinematic, the load characteristics, the structure parameters influence on the drivesystem parameters of the6-DOF spindle coupled simulator, which is beingresearched by HIT.Firstly, the mechanism property of6-DOF spind le coupled simulator wasstudied including the special elements the coupling connecting rod. As the table isspace multi-closed loop structure, which contains general kinematic pair andredundant constraints,―degrees of freedom calculating method based on spiral‖isused to solve the degrees of freedom.Containing the bell crack and the coupling connecting rod, spindle coupledsimulator has the characteristics of the series-parallel hybrid mechanism.With thespace vector method, this thesis get the inverse solution of vector equations, thentake the derivative of vector equations, and get the jacobian matrix. The inversesolution and the jacobian matrix is verified by the joint simulation of ADAMS andSimulink. Combining with the related research abroad, and analys ising loadcharacteristic and that the test rig is constructed by high stiffness light weightelements, the conclusion is draw that the main load of test rig is the elastic load.Due to the use of coupling connecting rod, the hydraulic cylinders motions arerelatively independent, which means the hydraulic cylinders can be studiedrespectively. Cylinder maximum elongation, maximum speed, maximum forcedetermine the design of the hydraulic driving system. Under the assumption thatcomponent are light, constraints are ideal, the position, velocity and force of theupper platform corresponding to the cylinder maximum elongation, maximumspeed, maximum force are respectively studied. Combined with velocityinstantaneous center, force balance and related knowledge, the equation betweenthe structural parameters and the cylinder maximum elongation, maximum speed, maximum force are draw. With the equation, the relation between the structuralparameters and the hydraulic drive system are studied, while the property of thecoupling connecting rod and the bell crank are clarified. This article takes4barsystem as example, analys is4bar system in detail. In the process the equationbetween reaction force of the bell crank and the structural parameters of the test rigalso obtained.