移动机器人的动力学分析与仿真

Dynamic analysis and simulation of mobile robot

针对移动机器人动力学建模问题,本文基于多体系统离散时间传递矩阵法,构建了移动机器人的车体与机械臂的统一整体动力学方程.并设定了机械臂各个关节的转动规律以及整体动力学方程的边界条件.最后采用MATLAB软件对动力学方程进行数值仿真.通过对仿真结果的分析,不仅验证了理论研究的正确性,也得到了各个关节的力矩大小及变化规律,便于驱动电机的选型,同时为后期的控制系统设计提供了重要的理论依据.

Because of the system complexity of the mobile robot,in view of the problem of dynamic modeling of mobile robot,Firstly,based on the discrete time transfer matrix method for multi-body system,constructed the unified whole dynamic equation of the robot body and robot arm. And further set the rotation law of each joint of the robot arm and the boundary conditions of the whole dynamic equation. Then the numerical simulation of the dynamic equation is carried out by using MATLAB software. Through the analysis of simulation results,not only demonstrate the validity of the theory,but also get the date and the change rule of torque of each joint. Easy to drive motor selection,at the same time,provides an important theoretical basis for later control system design.