2杆轮式移动机械手运动学、动力学、稳定性研究  

Study on kinametics and dynamics and dynamic stability of 2-link wheeled mobile manipulator

作　　者：苑光明[1] 杨玉维[1] 张明路[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《天津工业大学学报》2010年第6期68-71,77,共5页Journal of Tiangong University

基　　金：国家高技术研究发展计划项目(2006AA04Z221)

摘　　要：针对2杆轮式移动机械手运动学、动力学、稳定性(平面)等问题进行了系统研究.假定移动载体以恒速通过不规则路面(路面以正弦函数描述)的同时,机械手末端执行器跟踪给定轨迹.通过分析系统约束方程组并采用Cartesian坐标分别得出系统构型位置、速度、加速的反解;应用牛顿-欧拉方程,建立该轮式移动机械手系统的完整逆动力学模型;以该动力学模型的分析结果为基础,得出轮胎支反力和水平驱动力,并综合考虑轮胎与路面间的摩擦,评价了系统在执行既定任务时的稳定性.由于Cartesian坐标的应用,致使该运动学、动力学等模型和稳定性评价标准等的推导具有通用性,从而为移动机械手性能的研究提供了相应借鉴.The kinematics and dynamics and dynamic stability（planar） evaluation of a 2-link wheeled mobile manipulator are studied.The assumption is given that the mobile manipulator moves with a constant velocity over the uneven road surface that can be described in terms of sine wave and its end-effector follows a given trajectory.Firstly,the inverse postion,velocity and acceleration,which are expressed in Cartesian coordinates,are obtained by analyzing the system constraint equations.Secondly,by making use of general Newton-Euler equations,the inverse dynamics model of the mobile manipulator is obtained.Based on the system dynamics model,the reaction between wheels and ground surface and level driving force can be gotten.Lastly,according to the reaction and driving force and friction,a dynamic stability evalution metric is introduced.From the generality of investigating the complete system kinametics and dynamics and dynamic stability,similar modeling in this field can get corresponding references.

关 键 词：2杆轮式移动机械手 运动学 动力学 稳定性 

分 类 号：TH12[机械工程—机械设计及理论]