6自由度轮式悬架柔性单杆移动机械手动力学研究与仿真

Dynamics research and simulation on flexible single rod mobile manipulator of 6-DOF wheel typed suspension frame

针对6自由度轮式悬架柔性单杆移动机械手(平面)动力学问题进行了系统研究。该轮式悬架柔性单杆移动机械手由2自由度线弹性-阻尼悬架系统的移动载体和4自由度柔性机械手所组成,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,并采用浮动坐标法,以矩阵、矢量简洁的形式构建了该轮式悬架柔性单杆移动机械手系统的完整动力学模型。该动力学模型综合考虑了机械手的弹性变形(率)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给出了该动力学模型正解的仿真结果。通过与刚体模型(假定弹性变量为0)仿真结果比较,证实了该柔体系统存在动力学耦合现象。

A systematic research directed against the dynamics problems of a flexible single rod mobile manipulator of 6-DOF wheel typed suspension frame was carried out. This flexible single rod mobile manipulator of the wheel typed suspension frame was constituted of a 2-DOF linear elasticity-damping suspension frame system and a 4-DOF flexible manipulator, and was supposing that the mobile carrier was passing an irregular road surface （ the road surface was described by a sine function） with a constant speed. Utilizing Synthetically the Lagrangian principle and the Newton-Euler equations and adopting the floatation coordinates method, the complete dynamics model of the flexible single rod mobile manipulator system of this wheel typed suspension frame was constructed with a compact form of matrices and vectors. This dynamics model considered synthetically the coupling influence of the elastic deformation （rate） and suspension frame on the dynamics of entire system, and finally the simulation result of the forward solution of this dynamics model was presented by adopting the numerical method. Through the comparison with simulation result of rigid body model （suppose the elastic variables to be zero）, it was verified that there exists dynamics coupling phenomena in this deformable body system.