Dynamic Modeling Analysis And Simulation Of Wheeled Mobile Flexible Manipulator With Suspension

Wheeled mobile manipulator has broad application in the areas of industry, agriculture,anti-terrorism and anti-riot, home application, space exploration, etc. As aerospacetechnology develops and modeling analysis with control method of flexible manipulatorsystem are more and more important. This research was supported by Natural ScienceFoundation of China”dynamics modeling and accurate operation control method researchof multiple flexible wheeled mobile manipulator with suspension”(61075097), NaturalScience Foundation of Hebei Province”Wheeled mobile robot dynamic precise controlmethod research”(E2010000049) and National863plan”Special robot technology andapplication in nuclear reactor”(2011AA040201). Wheeled mobile suspension manipulator(HEBUTⅡ Robot) moved on uneven ground with environment and operation requirementswas considered as research object. Considering flexibility of suspension and transversedeformation of manipulator in the system, dynamic model of three member manipulatorwas studied.Its dynamic model was analyzed and simulated. Then control model of thissystem was initially built and simulated through fuzzy PID control strategy. It layed thefoundation of next work. The main achievements consist of as following aspects:1. Based on vector method and AMM, dynamic model of three member flexiblemanipulator system was studied. Floating reference frame of manipulator system was builtby secant method. This method reduces parameters for describing the end point ofmanipulators. With vector method and AMM, dynamic model of multiple manipulatorssystem was built as Concise expression by matrixes and vectors.2. A new dynamic model of flexible manipulator based on a new spring and rigid bodymodel by spring elastic potential energy replacing potential energy from flexiblemanipulator’s transverse deformation was proposed. This new model’s independentcoordinate variables were rotation angles of rigid bodies. Through adjusting springs’modulus of elasticity and bodies, the track of end point of flexible and rigid manipulatorwere basically overlapped. The simulation results proved that the new model was available.3. Wheeled mobile suspension manipulator system was considered as an entirety tostudy its control method, with suspension and manipulator’s flexibility. Firstly, suspensionand flexibility of manipulator were introduced when dynamic model of wheeled mobilesuspension manipulator system was built. Then mobile manipulator system was consideredas an entirety to control, it change the conventional control method that controlling carrierand manipulator were separated. The simulation results directly showed that fuzzy PIDcontrol was more appropriate control method.