摘要
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,建立了系统运动学模型;综合利用拉格朗日原理和牛顿-欧拉方程,计算出包含构件坐标变量的轮式悬架移动载体的驱动力模型,建立轮式悬架移动机械手的动力学模型.该动力学模型综合考虑移动载体的线弹性-阻尼悬架、路面扰动和电机的集中质量对整体系统动力学的耦合影响,最后采用数值方法给出4自由度轮式悬架移动机械手动力学模型的仿真结果.通过对比牛顿-欧拉方程得到的计算转矩与作为数值仿真输入条件的驱动转矩,两者完全吻合,进一步验证了轮式移动载体驱动力模型和轮式悬架移动机械手动力学模型建立的正确性.
Combined with the constraint equations of the wheeled suspension mobile manipulator, the inde- pendent coordinate variables and the associated coordinate variables are extracted and the kinematic model of the system is established. By utilizing synthetically the Lagrangian principle and the Newton-Euler e- quation, the driving force model which contained the variables of the components of the wheeled suspen- sion mobile carrier is calculated; and the dynamic model of the wheeled suspension mobile manipulator is established. This dynamic model takes the coupling influence of linear elastic damping suspension of the mobile carrier, pavement disturbance and lumped mass of the motors on the integer systematic dynamics into consideration. Finally, the simulation results of the dynamic model are given by using the numerical method. By comparing the calculation torques coming from the Newton-Euler equation and the driving torques which is treated as input conditions of the numerical simulation, the two results are in accordance with each other, so as to further verify the correctness of the numerical simulation.
出处
《武汉大学学报（工学版）》
CAS
CSCD
北大核心
2015年第1期138-144,共7页
Engineering Journal of Wuhan University
基金
国家自然科学基金青年科学基金项目(编号:71401123)
关键词
悬架
路面扰动
集中质量
移动机械手
动力学
suspension
pavement disturbance
lumped mass
mobile manipulator
dynamics
