移动机械臂倾覆稳定性分析与优化

Analysis and Optimization of Overturning Stability of Mobile Manipulator

针对传统轮式移动机械臂倾覆判据存在的不稳定性,提出以倾覆力矩为判据的倾覆力矩轮式移动机械臂倾覆判据,通过与零力矩点判据对比,证明了判据的先进性;论文详细探讨了各种动力学因素如机械臂构型、关节角速度、关节角加速度、末端载荷与末端加工反力/力矩对系统倾覆稳定性的作用规律;研究了倾覆约束下的飞机/火箭蒙皮钻铆轨迹规划问题,提出了轨迹规划方法,试验结果表明该方法能够保证系统不倾覆又能够实现整体运行时间最短。

A new overturning criterion for wheeled mobile manipulator,overturning moment,is proposed,and its advancement is proved by comparison.On the basis of dynamics,various dynamic factors such as configuration of manipulator,joint angular velocity,joint angular acceleration,end load and end processing reaction force/moment are discussed in detail.The action law of overturning stability is studied.The trajectory planning problem of aircraft/rocket skin drill riveting under overturning constraint is studied.An adaptive time-interval trajectory planning method is proposed.The experimental results show that the proposed method not only ensures that the system does not overturn,and also achieves the shortest overall running time.