Workspace analysis of the bogie 6-degree-of-freedom dynamic simulation test bench

Abstract

The bogie 6-degree-of-freedom dynamic simulation test bench can simulate various operating conditions of the bogie through coordinated movement of the three parallel 6-degree-of-freedom motion platforms; however, the motion of the platforms will be interfered by some space obstacles. In order to obtain the collision-free workspace of the 6degree-of-freedom motion platforms, a limit boundary-search method based on the collision-detection model is proposed. The structure of three parallel 6-degree-of-freedom motion platforms is analyzed, and its inverse kinematics model is established. Considering its internal constraints, the constraint models of the actuators' stroke and the spherical hinges angle are established. Based on the collision-detection method between convex polygons, the minimum distancedetection models between platforms and obstacles as well as between actuators and obstacles are established. Then the limit boundary-search method is used to search for all boundary points that satisfy the constraint conditions. Finally, the correctness and feasibility of the proposed method and models are verified by some simulation examples. The proposed research avoids collisions effectively and provides a reference for the optimal design of the test bench.

Dynamic Characteristics Analysis of Two-Beam Laser Welding Robot for Fulselage Panels

“…Two-beam laser welding has been paid more and more attention in aviation field, because it is an advanced process for precise, low distortion joining of manufacturing parts [2] . During the application of industrial robot to two-beam laser welding, in addition to good reliability and suitable workspace, the overall structure of industrial robot also needs well dynamic performance [3][4][5] , which will directly affect the stability, reliability and accuracy of the robot. Performance of industrial robots is limited due to their mechanical structure involving rotational joints with a lower stiffness.…”