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| Forward kinematics solution of 6 degree of freedom simulation platform for bogie test |
| 1.College of Transportation, Jilin University, Changchun, Jilin 130022, China; 2.Changchun Railway Vehicle Co., Ltd., Changchun, Jilin 130062, China |
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Abstract In order to realize real simulation of the bogie working state, the forward kinematics of 6DOF simulation platform for bogie test was investigated. According to geometry and parameters of 6DOF simulation platform, the nonlinear mathematical model for forward position solution of the platform was established by the homogeneous transformation matrix based on Euler angles and rod length constraints.The position variable was taken as unknown quantities with equation number equal to actuator number. By Matlab/simulink simulation， the approximate solution was achieved based on NewtonRaphson method to turn nonlinear mathematical model into linear equations with position variable as unknown quantities and Jacobian Matrix as coefficient matrix. Combined with example，the accuracy and efficiency of the algorithm and the nonlinear mathematical model for the forward kinematics solution were verified to provide important theoretical basis for the 6DOF platform motion control.
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2012, Vol. 33 
