Abstract
Maglev transportation is a new type of rail transit, whose vehicle is different from the two-bogie structure of the wheel-rail train. Generally, it consists of four to five suspension frames supporting a car body in parallel. The moving mechanism of a vehicle often consists of hundreds of moving parts, showing a multi-rigid body system in serial-parallel structure. At present, there is no theoretical framework for systematically and accurately describing the kinematics and dynamics of the Maglev train. The design work is at the level of simple equivalent estimation or measurement from the CAD drawing, which makes the system performance analysis and optimization work unable to be carried out scientifically. Based on the theoretical framework of screw theory and exponential mapping, the forward kinematics modeling, inverse kinematics solution, transition curve modeling and computational analysis methods for the Maglev train are proposed in this paper. A systematic and accurate theoretical framework is constructed for the modeling and analysis of the motion mechanism of the Maglev train, which makes the design and analysis of the Maglev train at the scientific level.
Highlights
IntroductionMaglev trains rely on non-contact electromagnetic forces to achieve contactless support
Maglev trains rely on non-contact electromagnetic forces to achieve contactless support.Compared with the traditional wheel-rail train, the Maglev train has the advantages of little mechanical wear, small vibration, stable operation, strong climbing ability, low noise, small turning radius and so on [1]
Based on the model established by the theory of screw and exponential mapping, an example of the solution of the motion mechanism in the Maglev train on the typical track of the transition curve is given
Summary
Maglev trains rely on non-contact electromagnetic forces to achieve contactless support. The helicoidal motion and exponential mapping [7,8] apply the concept of metric space on the manifold to the joint manifold of the motion mechanism, which makes the analysis and design of the mechanism more general It has become a universal modeling method for modern robotics. The forward kinematics modeling method of a mid-low speed Maglev train is introduced based on the theory of screw and exponential mapping. Based on the model established by the theory of screw and exponential mapping, an example of the solution of the motion mechanism in the Maglev train on the typical track of the transition curve is given.
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