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结合轮式悬架移动机械手的约束方程,提取了系统独立坐标变量和关联坐标变量,建立了系统运动学模型;综合利用拉格朗日原理和牛顿-欧拉方程,计算出包含构件坐标变量的轮式悬架移动载体的驱动力模型,建立轮式悬架移动机械手的动力学模型.该动力学模型综合考虑移动载体的线弹性-阻尼悬架、路面扰动和电机的集中质量对整体系统动力学的耦合影响,最后采用数值方法给出4自由度轮式悬架移动机械手动力学模型的仿真结果.通过对比牛顿-欧拉方程得到的计算转矩与作为数值仿真输入条件的驱动转矩,两者完全吻合,进一步验证了轮式移动载体驱动力模型和轮式悬架移动机械手动力学模型建立的正确性.
Combined with the constraint equation of the wheeled suspension moving manipulator, the system independent coordinate variables and the associated coordinate variables are extracted, and the system kinematics model is established. Based on the Lagrange principle and the Newton-Euler equations, The dynamic model of wheeled suspension moving carrier is established based on the driving force model of wheeled suspension moving carrier.This dynamic model considers linear elasticity of the moving carrier-damping suspension, road surface disturbance and the concentrated quality of the motor to the overall system power Finally, the simulation results of 4-DOF wheel-suspension manipulator dynamics model are given by numerical method.Compared with the calculated torque obtained by the Newton-Euler equation and the drive torque as the input of numerical simulation, The two are in good agreement with each other, further verifying the correctness of the model of wheeled mobile carrier driving force and the dynamic mechanical model of wheeled mobile robot.