Static Force Analysis of a 3-DOF Robot for Spinal Vertebral Lamina Milling

A Mathematical Modeling and Analysis Method for the Kinematics of a Maglev Train

In recent years, more and more countries are paying attention to maglev transportation because of its outstanding advantages. However, because the structure of a maglev train is more complex than a wheel-rail train, there is no systematic theory method for kinematic modeling of a maglev vehicle. Based on the screw theory and the product of exponentials (PoE) formula in the field of open-chain robotics, this paper presents a method of kinematic mathematical modeling and analysis for a maglev train and track. By analyzing the characteristics of the closed chain running mechanism of a maglev train, the kinematic mathematical model of a maglev train and track is established, and the motion state of each moving part of the vehicle on a typical track is calculated and analyzed. At last, compared with the results of experiment, the correctness of modeling method proposed in this paper is verified.