摘要
移动机械臂因机械臂在动态作业过程中的耦合效应会影响移动平台的运动特性,增加了整个系统的复杂度和非线性,给系统建模带来了极大挑战.为此提出了一种新的层级聚合建模方法.该方法依据分析力学中Udwadia-Kalaba(U-K)理论的层级属性,首先将移动机械臂划分为3个子系统,并分别利用Lagrange方程建立各自的无约束动力学模型,然后基于移动机械臂机械结构上的约束利用Udwadia-Kalaba基本方程(UKE)建立整体系统模型.此外,针对系统存在初始条件偏差的情况,利用基于Lyapunov稳定性理论来补偿初始条件偏差,以达到收敛理想轨迹的目的.仿真结果验证了该文所提出的建模方法的可行性.
The coupling effects of mobile manipulators on the motion characteristics of mobile platforms during the dynamic operation process,would increase the complexity and nonlinearity of the whole system and then bring great challenges to the system modelling.A new hierarchical aggregation modelling method was proposed to solve this issue.The method is based on the hierarchical properties of the Udwadia-Kalaba(UK)theory in the analytical mechanics.First,the mobile manipulator was divided into 3 subsystems,and the unconstrained dynamics of each one was modelled with the Lagrangian equations.Subsequently,the basic Udwadia-Kalaba e-quations(UKE)were employed to model the overall system,in view of the constraints within the mechanical structure of the mobile manipulator.In addition,the Lyapunov stability-based theory was used to compensate for the initial condition deviations to achieve convergence of the ideal trajectory.Simulation results validate the feasibility of the proposed modelling method.
作者
董方方
杨超
韩江
张新荣
DONG Fangfang;YANG Chao;HAN Jiang;ZHANG Xinrong(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,P.R.China;Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment,Hefei 230009,P.R.China;Shaanxi Province Key Laboratory of Highway Construction Machinery,Chang’an University,Xi’an 710064,P.R.China)
出处
《应用数学和力学》
CSCD
北大核心
2023年第12期1473-1490,共18页
Applied Mathematics and Mechanics
基金
国家自然科学基金项目(52275484)
安徽省自然科学基金项目(2208085ME126)。
