Direct Kinematics of 6-RSPS Driving Simulation Platform Based on FBGS Algorithm

Chun Jie Yang; Jian Jun Li; Xiu Zhi Yang

doi:10.4028/www.scientific.net/AMM.865.474

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 865Direct Kinematics of 6-RSPS Driving Simulation...

Direct Kinematics of 6-RSPS Driving Simulation Platform Based on FBGS Algorithm

Abstract:

A new 6-RSPS simulator platform mechanism is proposed compared with the traditional 6-SPS mechanism. It is more verisimilar when simulating a vehicle’s turning because it can realize unlimited rotation around Z axis so as to avoid the washout algorithm in the direction of Z axis. The kinematics model is established by the rod length vector relationship. The BFS algorithm is applied to calculate the direct kinematics of 6-RSPS mechanism, and the precise direct kinematics solution can be obtained in the condition that the number of iterations decreases. Through the direct kinematics of 6-RSPS with the reverse kinematics solution to find that the rod length errors and the rotary angle errors are all controlled below 1.1 percent.

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Periodical:

Applied Mechanics and Materials (Volume 865)

Pages:

474-479

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.865.474

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Online since:

June 2017

Authors:

Chun Jie Yang*, Jian Jun Li, Xiu Zhi Yang

Keywords:

6-RSPS, Direct Kinematics, FBGS, Simulation Driving Platform

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* - Corresponding Author

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