تحليل حركتي يك بازوي مكانيكي نصب شده بر روي يك وسيله ي نقليه ي مجهز به سيستم تعليق

MOTION ANALYSIS OF A MANIPULATOR MOUNTED ON A VEHICLE WITH SUSPENSION SYSTEM

A manipulator mounted on a moving vehicle is called a mobile manipulator. A mobile manipulator with an appropriate suspension system can pass over uneven surfaces, thus having an infinite workspace. If the manipulator could operate while the vehicle is traveling, the efficiency concerning the time and energy used for stopping and starting will be increased. This paper presents the kinematic and dynamic modeling of a three degrees-of-freedom manipulator attached on a vehicle with three degrees-of-freedom suspension system, the manipulator is a RRR type, with three revolute joints, and the degrees of freedom of vehicle are bounce, pitch, and roll. The vehicle is considered to move with a constant linear speed over an uneven surface while the end effector tracks a desired trajectory in a fixed reference frame. Simulation results for straight-line trajectory are presented.