Dynamic modeling and parametric analysis of dual arm manipulator with revolute-prismatic joints mounted on a nonholonomic mobile base

This paper is concerned with the study of dynamic modeling and parametric analysis of nonholonomic wheeled mobile robotic manipulators, which consist of two serial manipulators with revolute-prismatic joints and an autonomous wheeled mobile platform. Lots of mechanical systems which are including the nonholonomic constraints are studied by using Lagrangian methodology and its associated multipliers. Eliminating these multipliers from the equations of motion is a really time-consuming and difficult task. Therefore, to derive the governing kinematic and dynamic equations of such a complex system, and also to prevent computing the Lagrange multipliers related to the nonholonomic constraints, the recursive Gibbs-Appell (G-A) approach is applied. To derive the governing equations systematically, and also to improve the computational efficiency, a recursive algorithm is used for modeling of the system. In this proposed method, all the computational operations have done only by using 3×3 matrices or 3×1 vectors. At the end, a mathematical simulation for a dual arm manipulator with 3 links and revolute-prismatic joints in each arm is performed to show the ability of the proposed approach in deriving the governing equations and parametric analysis for such a complex systems.