Dynamic Analysis And Research On 5-DOF Wheel Typed Suspension Mobile Manipulator

A mobile manipulator is composed of a multi DOF serial manipulator and a mobile carrier. Compared to normal fixed manipulator, its work space is greatly expanded. The existence of the damping suspension system can alleviate and weaken the effects of the irregular road surface to the displacement and force of the mechanical manipulator. However,the introduction of mobile carrier and the damping suspension system has greatly increased the difficulty of manipulator dynamic modeling. Based on previous research results, a systematic and comprehensive kinematic and dynamic analysis of 5 DOF wheel typed suspension mobile manipulator is carried out.The main contents of this paper are:1. Kinematics analysis of 5 DOF wheel typed suspension mobile manipulator. Based on the holonomic,nonholonomic constraint equations and the trajectory equations of the manipulator, the independent coordinate variables and associated coordinate variables of the manipulator system are separated, the forward and inverse kinematics model of 5 DOF wheel typed suspension mobile manipulator are established.2. Dynamics analysis and numerical simulation of 5 DOF wheel typed suspension mobile manipulator. On the basis of kinematics model, dynamic factors such as the mass matrix, the generalized force and the driving force of the manipulator system are analyzed and deduced. Then the dynamic factors are integrated into the Lagrange equation to establish the forward and inverse dynamics model of the manipulator system and the numerical simulation is made. The analysis of the simulation results verifies the correctness of the dynamic model.3. Parameter design based on dynamic model simulation results. Based on the results of the dynamic model simulation of the manipulator system, the optimization and design are carried out. Starting from the moment results, the driving power of the motors are calculated so as to select the appropriate motor, and the bending strength of every component is checked. On the basis of the dynamics model, with the minimum energy consumption as the optimization objective, the component length as the optimization variables, the manipulator system optimization design is carried out.