| Dynamic Modeling of Spatial Cooperation Between Dual-Arm Mobile Manipulators北大核心CSCD |
| |
| 引用本文： | 董方方,喻斌,赵晓敏,陈珊.Dynamic Modeling of Spatial Cooperation Between Dual-Arm Mobile Manipulators北大核心CSCD[J].应用数学和力学,2022,43(8):846-856. |
| |
| 作者姓名： | 董方方 喻斌 赵晓敏 陈珊 |
| |
| 作者单位： | 1.合肥工业大学 机械工程学院，合肥 230009 |
| |
| 基金项目： | 国家自然科学基金(51905140)；安徽省自然科学基金(2208085ME126) |
| |
| 摘 要： | 移动机械臂进行空间协作时会产生复杂的非线性耦合，使得采用Lagrange方程或Newton-Euler法直接进行建模极为繁琐。针对双移动机械臂空间协作问题，提出了一种结合Udwadia-Kalaba (U-K)方法与Lagrange方程建立动力学模型的方法。在建模过程中，将负载简化为连杆，选择负载中心断开的方式对系统进行分解，从而避免了机械臂末端关节断开导致的末端关节转角与连杆转角的约束信息缺失问题；将分割形成的两个子系统通过Lagrange方程进行建模，得到了子系统的动力学模型；再将协作系统的固有几何关系通过约束形式引入，应用U-K方法得到了协作系统动力学模型，减少了建立动力学模型所需要的计算量；最后通过数值仿真验证了该方法所得到的动力学模型的准确性。
|
| 关 键 词： | Udwadia-Kalaba方法 动力学建模 协作机械臂 移动机械臂 |
| 收稿时间： | 2021-08-02 |
Dynamic Modeling of Spatial Cooperation Between Dual-Arm Mobile Manipulators |
| |
| Dong F.,Yu B.,Zhao X.,Chen S..Dynamic Modeling of Spatial Cooperation Between Dual-Arm Mobile Manipulators[J].Applied Mathematics and Mechanics,2022,43(8):846-856. |
| |
| Authors: | Dong F Yu B Zhao X Chen S |
| |
| Affiliation: | 1.School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, P.R.China2.Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei 230009, P.R.China3.School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, P.R.China |
| |
| Abstract: | The complex nonlinear coupling in the spatial cooperation process of mobile manipulators, makes it extremely tedious to directly model the spatial cooperative systems with the Lagrange equation or the Newton-Euler method. A dynamic modeling method, combining the Udwadia-Kalaba (U-K) method with the Lagrange equation, was proposed for spatial cooperation of dual-arm mobile manipulators. The load was simplified as a connecting link during modeling. The load center was selected to be disconnected for decomposition, so that the lack of constraint information was avoided between the end joint angle and the end link angle caused by the disconnection of the manipulator end joint; the segmented 2 subsystems were modeled with the Lagrange equation, thus, the dynamic model for the subsystems was obtained. The inherent geometric relationships of the cooperative system were introduced in the form of constraints, and the U-K method was applied to obtain the dynamic model for the cooperative system. The computation for modeling was reduced. The numerical simulation verifies the accuracy of the model. |
| |
| Keywords: | cooperative manipulator dynamic modeling mobile manipulator Udwadia-Kalaba method |
| 本文献已被 维普 等数据库收录！ |
| 点击此处可从《应用数学和力学》浏览原始摘要信息 |
|
点击此处可从《应用数学和力学》下载全文 |
