轨道不平顺模拟器位姿反解解算及坡道模拟  

Inverse Kinematics Solution of Track Irregularity Simulator and Slope Simulation

作　　者：曹晓宁[1] 刘玉梅[1,2] 苏建[1] 蓝志坤[3] 王秀刚[1] 王帆[1] 

机构地区：[1]吉林大学交通学院,吉林长春130022 [2]长春轨道客车股份有限公司,吉林长春130062 [3]长春大学机械与车辆工程学院,吉林长春130012

出　　处：《北京理工大学学报》2013年第1期37-41,共5页Transactions of Beijing Institute of Technology

基　　金：吉林省科技厅重点资助项目(20080356);长春市科技支撑计划项目(2010018);吉林大学研究生创新基金资助项目(20121076);博士后科学基金资助项目(2011M500603)

摘　　要：为了实现轨道不平顺室内模拟,对轨道不平顺模拟器的双六自由度模拟平台位姿反解进行研究.结合双六自由度模拟平台几何参数,在14个作动器空间向量表述基础上,利用齐次坐标矩阵建立了轨道不平顺模拟器双六自由度模拟平台位姿反解数学模型.建立了坡道模拟对应的双六自由度模拟平台位姿协调关系模型,借助于Matlab/Simulink仿真模型进行了位姿反解解算,通过仿真模型解算结果与几何理论计算结果分析对比,表明了两种计算方法结果具有很好的一致性,验证了所建反解数学模型、位姿协调关系模型及仿真模型的准确性.To realize indoor simulation of the track irregularity, the solution of inverse pose of the double 6-DOF loading platform of the track irregularity simulator was studied. Combined with the geometric parameters, the inverse kinematics model of double 6-DOF loading platform of the track irregularity simulator was established on the basis of the Euler homogeneous transformation matrix and link-length constraints of the 14 actuators. The double 6-DOF loading platform coordinative relation model was also established for slope simulation. The solution of inverse kinematics was brought about by means of the Matlab/Simulink. Comparing the results of simulation and geometric calculation, it is found that the calculation results from two ways above have good consistency, and this proves the accuracy of the inverse kinematics model, coordinative relation model and simulation model established in this research.

关 键 词：轨道不平顺模拟器 位姿反解 纵向坡度 

分 类 号：U260.331[机械工程—车辆工程]