Inverse Kinematics Solution of Track Irregularity Simulator and Slope Simulation

To realize indoor simulation of the track irregularity, the solution of inverse pose of the double 6-DOF loading platform of the track irregularity simulator was studied. Combined with the geometric parameters, the inverse kinematics model of double 6-DOF loading platform of the track irregularity simulator was established on the basis of the Euler homogeneous transformation matrix and link-length constraints of the 14 actuators. The double 6-DOF loading platform coordinative relation model was also established for slope simulation. The solution of inverse kinematics was brought about by means of the Matlab/Simulink. Comparing the results of simulation and geometric calculation, it is found that the calculation results from two ways above have good consistency, and this proves the accuracy of the inverse kinematics model, coordinative relation model and simulation model established in this research.