Kinematic analysis of 6-DOF spindle-coupled road simulators

The 6-DOF spindle-coupled road simulators are complicated serioparallel mechanisms. In this paper, the constraint equations about the length of major components are established based on the constrained relationships of different space vectors. Under the premise that the structural parameters and movement rule of the test rig are given, the position and the velocity of the simulator are analyzed. The Jocabian matrix is derived based on the Generalized separation of variables. The validity of the kinematical analysis is verified based on the co-simulation in ADAMS and Matlab.