The Method Of Modeling Of A Novel 6-Dof Parallel Manipulator As A Generalized Virtual Road Vehicle For On-Board Equipment Test

This paper presents a novel 6-DOF parallel manipulator for a new kind of vehicle motion simulation system, which is referred to as GVRV system. This system can realistically replicate the motion of any specified spot within the cabin of a real road vehicle in real time. Unlike traditional automobile testing platforms and vehicle motion simulators which are aimed at the vehicle, this system is aimed at the development of on -board equipment. The objective of this paper is to study how to do the modeling and motion planning work of this proposed manipulator to make it qualified as a generalized virtual road vehicle (GVRV) for on -board equipment test. First, the analytical characterization of the proposed 6-DOF parallel manipulator is presented. The forward and inverse kinematics problems of this manipulator are solved and its advantages such as high isotropy, well decoupling characteristic and no singular configuration within the demanded workspace are illustrated. Then, based on the full-size prototype of the manipulator, the whole GVRV system is built and described. By the study of the requirements for vehicle motion reproduction, the method of modeling is presented for this purpose. Finally, experiments are presented to demonstrate the validity of the model of the 6-DOF parallel manipulator for vehicle motion reproduction for use in on -board equipment test.