Kinemetics Analysis And Dynamics Analysis And Simulation For Mobile Manipulator

With the development of petrochemical industry of our country, the measurement and maintenance for the chemistry leakage from chemistry reactors and pipelines has become necessary technology to petrochemical industry. Because of the harmfulness of the chemicals, the mobile manipulator with independent ability becomes the best choice of mending work, replacing or helping mankind finish the dangerous work. At the same time, mobile manipulator has a brand new future in social public security and military affairs, such as dismantling explosives or tinder, anti-terrorism, etc. The thesis is carried on the research to the kinemetics analysis and dynamics analysis and simulation for mobile manipulator, supported by a National Program 863 item-- "The Mobile Manipulator system aimed at measurement and maintenance, working in the circumstance of chemistry dangerous leakage from the chemistry dangerous reactor"(item serial number: 2003AA421040).Firstly, the basic structure characteristics of Hebut-2 mobile manipulator is described and 5 degree of freedom manipulator and mobile platform kinematics model are established. Uniform model of mobile manipulator is also established. The traces followed by manipulator's effector transform to the locomotion of the manipulator and mobile platform, at same time, realize the transformation from Cartesian coordination to joint coordination. 5-DOF manipulator is controlled by programming with vc++.Secondly, the manipulator and mobile platform dynamics model and also the dynamics uniform model of mobile manipulator are set up. So the relations between force, mass and acceleration, torque, inertia and angle acceleration are explained. At last, finish the calculation of the corresponding joint torque according to the movements of the manipulator and mobile manipulator in order to guarantee the better position precision and expected speed and acceleration.Thirdly, utilizing artificial neural network resolves the dynamics couple of mobile manipulator. The simulation with Matlab shows the method reasonable and effective.