Kinematics Modeling and Analysis of Mid-Low Speed Maglev Vehicle with Screw and Product of Exponential Theory

Maglev transportation is a new type of rail transit, whose vehicle is different from the two-bogie structure of the wheel-rail train. Generally, it consists of four to five suspension frames supporting a car body in parallel. The moving mechanism of a vehicle often consists of hundreds of moving parts, showing a multi-rigid body system in serial-parallel structure. At present, there is no theoretical framework for systematically and accurately describing the kinematics and dynamics of the Maglev train. The design work is at the level of simple equivalent estimation or measurement from the CAD drawing, which makes the system performance analysis and optimization work unable to be carried out scientifically. Based on the theoretical framework of screw theory and exponential mapping, the forward kinematics modeling, inverse kinematics solution, transition curve modeling and computational analysis methods for the Maglev train are proposed in this paper. A systematic and accurate theoretical framework is constructed for the modeling and analysis of the motion mechanism of the Maglev train, which makes the design and analysis of the Maglev train at the scientific level.