计及悬架和路面扰动下的轮式悬架移动机械手动力学研究

Dynamics of Wheeled Suspension Mobile Manipulator with Suspension and Pavement Disturbances

对轮式悬架移动机械手进行动力学研究。综合考虑移动载体的线弹性-阻尼悬架和不平路面等工况,结合轮式悬架移动机械手的约束方程,提取了系统独立坐标变量和关联坐标变量,构建出包含构件坐标变量的轮式悬架移动载体的驱动力模型,建立了轮式悬架移动机械手动力学模型,采用数值仿真对比研究了不同载体移动速度、不同线弹性-阻尼悬架和不同路面对动力学模型的影响。研究结果表明,载体的移动速度对其沿垂直方向的波动的中心位置影响大,悬架刚度和路面扰动对移动载体沿垂直方向的波动范围、移动载体的倾角变化范围、移动载体的驱动力的变化范围均有影响。

A wheeled suspension mobile manipulator dynamics was studied herein.Synthetically considering the elastic damping suspension and uneven ground and combining with constraint equations of the wheeled suspension mobile manipulator,the independent coordinate variables and the associated coordinate variables were extracted.The driving force model which contained the variables of the components of the wheeled suspension mobile carrier,and the dynamics model of the wheeled suspension mobile manipulator were established.The effects of the different speeds of the carrier,different linear elastic-damping suspensions and different pavements on the dynamics model were studied comparatively by numerical simulation.And the reasons were analyzed.The results of the study show that the speed of the carrier has a great impact on the center position of the wave of the mobile carrier in the vertical direction,the stiffness of the suspension and the pavement disturbance also have impact on the wave range in the vertical direction of the mobile carrier,the angle range of the mobile carrier and the driving force range of the mobile carrier.