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中文摘要：
对国内外采用较多的A字架轮胎试验台进行运动学分析，发现该试验台在复合姿态角下，侧偏角、侧倾角、轮胎印迹中心存在偏移的现象，依据ISO轮胎坐标系的定义，采用空间解析几何方法推导出偏移量计算公式，计算结果表明：在大的复合姿态角下，各偏移量不可忽略。为有效解决该问题，提出一种新型结构6自由度轮胎试验台：采用多体动力学欧拉角旋转的方法，对新型轮胎试验台在不同姿态下的6个电缸长度进行仿真；分析6个电缸姿态角下的控制精度，并对6自由度平台的电缸进行空间上重新布置。结果表明：新型结构6自由度轮胎试验台在复合姿态角下各物理量无偏移，能任意控制轮胎的姿态，同时该新型结构中6个电缸布置的新方案提高轮胎姿态角的控制精度。
英文摘要：
The test rig of the A-frame which is used more at home and abroad is carried out kinematic analysis. The offsets of slip angle, camber angle and the tire trace center are discovered when the test rig is in the composite posture of slip angle and camber angle. The offset formula is deduced by the method of space analytic geometry based on the tire coordinate system defined in ISO. The results showed that each offset can＇t be ignored in a large complex attitude angle. In order to effectively solve the phenomenon, a novel structure of six degrees of freedom（DOF） tire test rig is proposed. The length of six electric cylinders is calculated when the new test rig is in different postures by the Euler angles of rotation method. The control precision of attitude angle of the tire is analyzed and six DOF platform electric cylinders are space rearranged. The results showed that each physical quantity is with no offset when the new structure six DOF tire test rig is in the composite posture and the tire posture can be arbitrarily controlled. As the same time, a new program of six power cylinder arrangement improves the control precision of tire attitude angle.
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