Analysis And Reserch Of Multi-axis Shaking Table Kinematics And Dynamics

This article analyses and research the structure and layout, working principle, basic parameters influence, kinematics characteristic and dynamic characteristic of multi-axis shaking table, combining the foreign research findings in the multi-axis shaking table through analysing the research and application on shaking tables domestic and overseas.First of all, this article puts forward the whole multi-axis shaking table structure and layout and determines the basic structure parameters of the whole system and introduces the working principle of the system in reference to the same type products in foreign. On the basis of above, it calculates the inverse kinematics and the Jacobin matrix of the whole multi-axis shaking table. Because this type of multi-axis shaking table is got from the Stewart parallel mechanisms which join the serial structural parts based on itself, so this type of multi-axis shaking table mixes with the characteristic of series-parallel structure. Using inverse kinematics methods similar with traditional Stewart parallel mechanism and space analytic geometry method to calculate inverse kinematics of the parallel structure parts and series structure parts of the multi-axis shaking table respectively and on this basis the Jacobin matrix is deduced.Next, in the case of determining the basic parameters of the multi-axis shaking table, analysing the influences to the system movement of each parameter with the inverse kinematics and doing the further research for the some main parameters affecting the system movement and doing some preparations for the structural design and optimization of this type multi-axis shaking table in the future.Finally, modeling rigid body dynamics of the multi-axis shaking table with using Lagrange and checking it with co-simulating the MATLAB/Simulink model and the ADAMS model, and it lays the foundation for the system actual development and control strategy research in the future.