Configuration optimization of a wheeled suspension mobile parallel manipulator based on multi-body dynamics

Author

Yang Yu-Wei ; Wang Shou-jun ; Xie Ning ; Ge Wei-min ; Li Bin

Author_Institution

Tianjin Key Lab. for Control Theor. & Applic. in Complicated Syst., Tianjin, China

fYear

2014

fDate

3-6 Aug. 2014

Firstpage

1306

Lastpage

1311

Abstract

It is since the shortcomings of a mobile manipulator in fields of height speed, large loading and precise tracking operation that a novel configuration manipulator of a wheeled suspension mobile parallel manipulator is presented. Based on multi-body dynamics, its inverse dynamic model is modeled in Cartesian Coordinate System under considering generality and integration of modeling approachs. Based on the inverse dynamic model, the energy consumption of driving motors is treated as an optimization goal to optimize some configuration parameters of the parallel manipulator. At last, the optimization algorithm is presented and verified by numeric simulations.

Keywords

manipulator dynamics; manipulators; mobile robots; optimisation; cartesian coordinate system; configuration optimization; driving motors; energy consumption; inverse dynamic model; multibody dynamics; optimization algorithm; optimization goal; wheeled suspension mobile parallel manipulator; Manipulator dynamics; Mathematical model; Mobile communication; Numerical models; Optimization; Vectors; Configuration optimization; Inverse dynamic Model; Multi-body dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2014 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4799-3978-7

Type

conf

DOI

10.1109/ICMA.2014.6885888

Filename

6885888