4自由度轮式悬架移动机械手动力学研究与仿真

Dynamics study and simulation on 4DOF wheel typed suspension mobile manipulator

针对4自由度轮式悬架移动机械手(平面)动力学问题进行了系统研究。该轮式移动机械手由2自由度线弹性-阻尼悬架系统的移动载体和2自由度机械手所组成,并假定移动载体以恒速通过不规则路面(路面以正弦函数描述)。综合利用拉格朗日原理和牛顿-欧拉方程,并采用Cartesian坐标,建立了该轮式移动机械手系统的完整动力学模型(正、逆动力学模型)。该动力学模型综合考虑了由路面和悬架对整体系统动力学的耦合影响,最后采用数值的方法分别给出了考虑悬架与不考虑悬架工况的该动力学模型逆解的仿真结果。该模型为后续系统控制策略的选取提供了相应的理论依据。同时该动力学模型由于采用Cartesian坐标,致使该动力学模型的推导具有通用性,为移动机械手动力学研究提供了相应借鉴。

A systematical study aiming at the （planar） dynamic problems of 4DOF wheel typed suspension mobile manipulator was carried out. This wheel typed mobile manipulator was constituted by the mobile carrier of the 2DOF linear elastic--damping suspension system and the 2DOF manipulator, and assuming the mobile carrier was passing through an irregular road surface, which was described in terms of sine function, with a constant speed. By utilizing synthetically the Lagrangion principle and the Newton - Euler equation and adopting the Cartesian coordinates, the complete dynamics model （forward and inverse dynamics model） of this wheel typed mobile manipulator system was established. This dynamics model considered the coupling influence of the road surface and suspension on the integer systematic dynamics. Finally, by adopting the numerical method the simulation results of the inverse solutions of this dynamics model were given out respectively on the working conditions with and without considering the suspensions. This model provided corresponding theoretical basis for the selection of controlling strategy of subsequent systems. At the same time on account of the Cartesian coordinates has been adopted by this dynamics model thus made the derivation of this dynamics model be provided with commonality, and a corresponding source of reference was provided for the dynamics research of mobile manipulator.