Study of dynamic characteristic of a wheeled suspension flexible mobile parallel manipulator based on multi-flexible-body dynamics

Author

Yang Yu-Wei ; Li Bin ; Xu Jin-you ; Zhao Xin-hua ; Wei Xuan

Author_Institution

Tianjin Key Lab. for Control Theor. & Applic. in Complicated Syst., Tianjin, China

fYear

2014

fDate

3-6 Aug. 2014

Firstpage

816

Lastpage

822

Abstract

Since mobile flexible serial manipulators lack the incapability of precise positioning under the cases of high speed and heavy payload, the new configuration of a wheeled suspension flexible mobile parallel manipulator is presented. Based on multi-flexible-body dynamics, its dynamic model is formulated in Cartesian coordinate system with considering generality and integration of the modelling method. At last, in order to verify the effectiveness of the presented modeling method and the dynamic characteristics of the novel mobile manipulator, a comparative assessment of the dynamic models is validated through numeric simulations.

Keywords

flexible manipulators; manipulator dynamics; mobile robots; Cartesian coordinate system; dynamic model; multiflexible-body dynamics; wheeled suspension flexible mobile parallel manipulator; Dynamics; Manipulator dynamics; Mathematical model; Mobile communication; Numerical models; Vectors; Dynamic model; Multi-flexible-body dynamics; Numeric simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2014 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4799-3978-7

Type

conf

DOI

10.1109/ICMA.2014.6885802

Filename

6885802