Driving force analysis of the carrier of the multiple flexible wheeled suspension mobile manipulator

Author

Li, Rui ; Zhang, Jianhua ; Zhang, Minglu

Author_Institution

Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China

fYear

2012

fDate

June 30 2012-July 2 2012

Firstpage

24

Lastpage

29

Abstract

In this paper, the multiple flexible wheeled suspension mobile manipulator has been carried on research. The elastic deformation of the manipulator and the elastic damping of the wheeled mobile carrier have been synthetically considered. Combined with the constraint equations of the system, the independent coordinate variables and the associated coordinate variables have been extracted for the first time. It makes the configuration of the wheeled suspension mobile manipulator more concise. On the basis of it, the driving force model containing the elastic variable of the flexible manipulator components of the wheeled suspension mobile carrier has been calculated with Newton-Euler method. Finally the simulation analysis has been proved the rationality of the model and the necessity of considering flexible factors.

Keywords

Newton method; damping; elastic deformation; manipulators; mobile robots; simulation; suspensions (mechanical components); wheels; Newton-Euler method; associated coordinate variables; carrier driving force analysis; constraint equations; independent coordinate variables; manipulator elastic deformation; multiple flexible wheeled suspension mobile manipulator; simulation analysis; wheeled mobile carrier elastic damping; Analytical models; Force; Manipulator dynamics; Mobile communication; Suspensions; Vectors; Driving Force; Flexible; Manipulator; Suspension;

fLanguage

English

Publisher

ieee

Conference_Titel

System Science and Engineering (ICSSE), 2012 International Conference on

Conference_Location

Dalian, Liaoning

Print_ISBN

978-1-4673-0944-8

Electronic_ISBN

978-1-4673-0943-1

Type

conf

DOI

10.1109/ICSSE.2012.6257142

Filename

6257142