| The wheeled dual arm service robot can replace or help human to complete various collaborative tasks,which is an important field of robot development at present.Its research level reflects a country's position in the field of robot to a certain extent.The wheeled double arm service robot not only greatly increases the working space range of the manipulator,but also has the advantages of flexibility and easy control of the wheeled mobile mode.As the wheeled robot belongs to the unstable system and the need of robot lightweight,whether the robot will tip-over in the work is a problem worthy of attention.The topic of this paper originates from the key project of natural science research in Anhui Province University,which is "Map Construction of Robot Double Arm System Operational Capability and Research on Human Motion Planning Method"(The project number is KJ2016A200.)and Anhui Post-doctoral Fund Project"Research on the Planning of Robot Double Arm Human-like Motion Based on Neurophysiology"(The project number is DG081.).In this paper,the research on the wheeled dual arm service robot was carried out.The main contents include:kinematics modeling and analysis of the manipulator,dynamics modeling and analysis of the manipulator,research on the criteria of the tip-over stability of the robot and the tip-over stability of the service robot system.Specific researches are as follows:(1)Kinematics modeling and analysis of modular manipulator of robot.Based on screw theory,the parameters of the modular manipulator with six DOF were described,and the forward kinematics equation of the manipulator was derived.Then,according to the Paden-Kahan subproblem and geometric relation,the inverse kinematics equation of the manipulator was solved,and the correctness and accuracy of the algorithm were verified and evaluated by MATLAB software.(2)Dynamic modeling and analysis of modular manipulator.Based on screw theory and Newton Euler method,the dynamic equation of the manipulator was deduced,and the inverse dynamic program of the manipulator was programmed by MATLAB software.Then,the 3-dimensional model of the manipulator was imported into ADAMS software for dynamic simulation.The wrench acting on each joint of the manipulator can be obtained by setting the joint angle,angular velocity and angular acceleration,and compared with the results calculated by MATLAB dynamic program,the correctness of the dynamic equation was verified.(3)Research on the tip-over stability criterion of robot.This paper analyzes several common tip-over stability criterions of robot,and then,starting from the moment that causes the system to tip-over,puts forward the criterions of tip-over stability margin of wheeled robot.And compares the ZMP criterion with the criterions proposed in this paper through simulation experiments,which proves the correctness and superiority of the criterions proposed in this paper.(4)Research on tip-over stability of service robot system.The influence of single arm movement on the stability of the service robot was studied.Firstly,the attitude of the workspace and the working space points of the manipulator were discretized.Then,combined with the tip-over stability criterion,the system tip-over stability margin on the workspace points of the manipulator was defined,and the system tip-over stability margin diagram of the manipulator in different conditions was drawn.The influence of different conditions on the stability of robot system was analyzed.The related research of this paper will be helpful to the following research of robot arm motion planning and robot tip-over control compensation method,and has positive academic significance for the field of wheeled mobile robot. |
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