| Citation: | HOU Liguo, WANG Dan, AN Dawei, et al. Dynamic modeling and loading experiment of multi-dimensional loading device[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(5): 1095-1101. doi: 10.13700/j.bh.1001-5965.2017.0349(in Chinese)
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A multi-dimensional loading device based on a 6-PUS parallel mechanism was designed to apply time-varying multi-dimensional loads to target. Firstly, according to the principle of vector superposition and Newton-Raphson method, the inverse and forward kinematics of loading device were analyzed. Secondly, based on the screw theory, the velocity and static force Jacobian matrix, which represent the kinematic and static mapping between the moving platform and actuations, were derived. Thirdly, according to the principle of virtual work, the dynamic model of loading device was established and validated by comparing the actuation forces derived from Adams and MATLAB simulation models. Finally, the multi-dimensional loading tests were designed and completed to verify the multi-dimensional loading ability of the device. The loading device provides a new loading method and theoretical basis for the loading tests of numerical control machine tools.
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