Inverse dynamic analysis of 6-DOF spindle coupled road load simulators

摘要

For the inverse dynamic analysis of 6-DOF spindle coupled road load simulator, based on virtual prototype model, the inverse dynamics model is established for the series-parallel hybrid mechanism by using the Newton Euler method. The Aim is to solve the problem when the desired six-dimensional force of rig is known, how to solve the driving forces of the six hydraulic cylinders. The final validation results show that the inverse dynamics model established can accurately describe the dynamic characteristics of the system, which does pave the way for the realization to precise reproduction of six-dimensional random waveform.