Abstract
The surge comes to underwater vehicle with huge impact energy and burstiness and uncertain direction. Those characteristic make its simulation so difficult that the anti-surge control system cannot be testified and verified very well. 6-DOF platform, which can motion in 6 degree of freedom space under 6 linear motors control, can come true all motion attitudes. It is an appropriate choice for surge simulation. This paper analyzed the kinematics characteristic of the platform by the methods of kinematics positive solution and kinematics inverse solution. Besides, the analysis result of kinematics characteristic were tested and verified through ADAMS simulation software. It turns out that the simulation result corresponds with the analysis result.
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