Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator

Hong Zhang; Yumin Zeng; Tongde Wang

doi:10.16578/j.issn.1004.2539.2019.06.012

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Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator

Design· Calculation | 更新时间：2022-10-01

- Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator
- Journal of Mechanical Transmission Vol. 43, Issue 6, Pages: 64-69(2019)
- 作者机构：
  
  1.江南大学机械工程学院江苏省食品先进制造装备技术重点实验室，江苏无锡 214122
  2.国网电力科学研究院江苏南瑞恒驰电气装备有限公司，江苏无锡 214161
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.06.012
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张洪,曾裕民,王通德.全向移动操作臂动力学建模与实验分析[J].机械传动,2019,43(06):64-69.

Zhang Hong,Zeng Yumin,Wang Tongde.Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator[J].Journal of Mechanical Transmission,2019,43(06):64-69.
张洪,曾裕民,王通德.全向移动操作臂动力学建模与实验分析[J].机械传动,2019,43(06):64-69. DOI： 10.16578/j.issn.1004.2539.2019.06.012.

Zhang Hong,Zeng Yumin,Wang Tongde.Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator[J].Journal of Mechanical Transmission,2019,43(06):64-69. DOI： 10.16578/j.issn.1004.2539.2019.06.012.

摘要

为了提高全向移动操作臂的控制精度，建立其运动学模型与动力学模型。首先，根据Mecanum轮的特性建立全向移动平台运动学模型，根据DH法则推导5自由度操作臂的运动学方程，并将操作臂基坐标与移动平台质心合而为一，推导出统一运动学方程；然后，在统一运动学模型的基础上，运用第二类拉格朗日方程，考虑移动平台和操作臂之间的耦合关系，考虑能量耗散问题，建立全向移动操作臂统一动力学模型；最后，依据设计搭建实验样机，并采用两种不同的转矩间接测量方法，在样机以不同运动方式情况下测量实时转矩，将之与由动力学方程算得的转矩计算值对比。结果表明，所建动力学模型正确可靠，为以后的运动控制提供了理论基础。

Abstract

In order to improve the control precision of the omnidirectional mobile manipulator, its kinematics model and dynamics model are established. Firstly，the kinematics model of the omnidirectional mobile platform is established according to the characteristics of the Mecanum wheel. The kinematics equation of the 5-DOF manipulator is derived according to the DH rule， and the unified kinematics equation is derived by combining the basis coordinate of manipulator with the centroid of mobile platform. Then，based on the kinematics model，by using the second type of Lagrangian equation，considering the coupling relationship between the mobile platform and the manipulator，considering the energy dissipation problem，the unified dynamics model of the omnidirectional mobile manipulator is established. Finally，the experimental prototype is built according to the design，and two different torque indirect measurement methods are used. The real-time torque is measured in different motion modes of the prototype，and compared with the calculated torque value calculated by the dynamics equation. The result shows that the built dynamics model is correct and reliable，which provides a theoretical basis for future motion control.

关键词

Mecanum轮移动操作臂拉格朗日方程转矩测量

Keywords

Mecanum wheelMobile manipulatorLagrange equationTorque measurement

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