Kinematic and Dynamic Analysis of a 6-DOF Spindle-Coupled Road Simulator

The 6-DOF spindle-coupled road simulator is one of the most advanced durability testing devices for entire vehicles. The simulator features a complex serial-parallel hybrid configuration with numerous components, making its kinematic and dynamic analysis relatively intricate. This paper presents a novel configuration for the spindle-coupled road simulator. Through inverse kinematics analysis, the rigid-body dynamics is established by using Kane's method. Subsequently, ADAMS-SIMULINK co-simulation is employed for model validation, achieving an force error rate of less than 0.04%, thereby confirming the model's accuracy and providing a foundation for future structural optimization and control strategy development.