一种全向移动操作机器人建模与交互作用分析  

Modelling and Transactional Analysis of an Omni-directional Mobile Manipulating Robot

作　　者：丁晓军[1] 马琴 赵涛 刘锋 虎鑫 Ding Xiaojun;Ma Qin;Zhao Tao;Liu Feng;Hu Xin(School of Electrical and Information Engineering,North Minzu University,Yinchuan 750021,China;School of Civil Engineering,North Minzu University,Yinchuan 750021,China;School of Mechatronic Engineering,North Minzu University,Yinchuan 750021,China;Ningxia Longji Photoelectric Technology Co.,Ltd.,Yinchuan 750021,China)

机构地区：[1]北方民族大学电气信息工程学院,宁夏银川750021 [2]北方民族大学土木工程学院,宁夏银川750021 [3]北方民族大学机电工程学院,宁夏银川750021 [4]宁夏隆基光电科技有限公司,宁夏银川750021

出　　处：《机械传动》2024年第1期28-38,共11页Journal of Mechanical Transmission

基　　金：宁夏自然科学基金项目(2021AAC03172);宁夏重点研发计划(引才专项)(2021BEB04030);北方民族大学中央高校基本科研业务费专项资金(2020KYQD30)。

摘　　要：全向移动操作机器人(Omni-directional Mobile Manipulating Robots,OMMR)是由全向移动平台以及在平台上加装一个或多个操作臂组成的具有主动作业能力的新型机器人系统。在移动平台上加装操作臂后,整个系统动力学行为的复杂性将会因为移动平台与操作臂之间的耦合效应而大大增加,涉及地面-移动平台、移动平台-操作臂、操作臂-操作环境的动态交互,给系统的建模带来极大困难。在建立OMMR运动学、静力学模型的基础上,提出了一种简化的OMMR系统动力学建模方法;基于该动力学模型,建立车-臂交互作用模型并对其交互作用进行分析。仿真和实验验证了车-臂交互作用模型的正确性,间接证明了所提OMMR系统动力学建模方法的合理性和有效性,为机器人运动规划和运动控制提供了模型数据。The omni-directional mobile manipulator robot(OMMR)is a class of a new robot with activat⁃ing operating capability,which is composed of one or more manipulators mounted on a mobile platform.Howev⁃er,after the manipulator is installed on the mobile platform,the coupling effect between the manipulator and the mobile platform will significantly increase the complexity of the dynamic behavior of the whole system,involving the dynamic interaction between the ground and the mobile platform,the mobile platform and the manipulator,the manipulator and the operating environment,which brings great difficulties to the modeling of the system.Based on establishing the kinematics and statics models of OMMR,this study presents a simplified modeling ap⁃proach of OMMR system dynamics.Based on this dynamic model,the vehicle-manipulator interaction model is established,and its interaction is analyzed.Simulation and experiments verify the correctness of the vehicle-ma⁃nipulator interaction model,indirectly prove the rationality and effectiveness of the proposed OMMR system dy⁃namics modeling approach,and provide model data for motion planning and control of robots.

关 键 词：全向移动操作机器人 移动平台 操作臂 系统建模 交互作用分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]