Mechanism Investigation Of A Six Degree Of Freedom Static Load Balance Vehicle Motion Simulation Platform

In the process of running, a car will not only accelerate and slow down, upperhill and downhill and turning, but also produce pitch, roll, heave and other forms of turbulence due to the road unevenness. In this paper,a new type of parallel vehicle motion simulation platform is designed to take into account of the mechanical structure and motion characteristics of the vehicle, and based on which carried on the related mechanism study, The main contents are as follows:Firstly, this paper analyzed the road surface excitation of different road conditions and extended the single wheel road excitation to four wheel coherent road excitation; Simplified the the vehicle dynamics model and obtained the mechanism model of vehicle dynamics based on the vehicle dynamics model; Use the vehicle four wheel coherent road excitation as input obtained the motion characteristics of the vehicle in D and E grade of road by the combination of Matalb and Adams simulation; Synthesised several mechanisms and selected a mechanism based on the analysis and comparison,which can realize mechanism reconstruction between actuated and the under actuated, and gave the relevant structural parameters; Analyzed the mechanism’s freedom and the singular space, which is ignored motion interference and Drive’s travel limit.Secondly, this paper discussed the inverse solution of the mechanism as the elastic energy storage joints were locked up, Based on which, the reachable workspace and singular space of the mechanism are analyzed; Analyzed the positive solution of the mechanism as the elastic energy storage joints were open and gave the numerical example; Established static model of mechanism as the as the elastic energy storage joints were locked up, Based on which,the maximum static load of the mechanism under the action of the spring force is analyzed; Established static model of mechanism as the as the elastic energy storage joints were open, based on which the static equilibrium position of the mechanism is analyzed combined with positive solution of the mechanism as he elastic energy storage joints were open.Thirdly, this paper introduced the kinematics and dynamics of the commen parallel mechanism base on Spinor and established the kinematics model of the mechanism as the elastic energy storage joints were locked up and gave the numerical example; Established the motion mapping of the elastic energy storage joint to the reference system of the moving platform, and based on above process established the mechanism dynamic model of elastic energy storage joint in two states and carried on the numierical analysis; Carried on the simulation and analysis of the mechanism based on the Adams software.Finally, based on the solidworks, this article designed the prototype machine, and the satic and modal analysis of key components of different parts were carried on; Designed the structure of driving unit, based on the analysis of Adams, the key components in the drive units were selected; Established the whole machine’s vibration simulation model based on solidworks and Adams, then carried on the vibration simulation analysis.