一种全向移动操作机器人建模与交互作用分析

丁晓军; 马琴; 赵涛; 刘锋; 虎鑫

doi:10.16578/j.issn.1004.2539.2024.01.005

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一种全向移动操作机器人建模与交互作用分析

理论研究 | 更新时间：2024-12-13

- 一种全向移动操作机器人建模与交互作用分析
- Modelling and Transactional Analysis of an Omni-directional Mobile Manipulating Robot
- 机械传动 2024年48卷第1期页码：28-38
- 作者机构：
  
  1.北方民族大学电气信息工程学院，宁夏银川 750021
  2.北方民族大学土木工程学院，宁夏银川 750021
  3.北方民族大学机电工程学院，宁夏银川 750021
  4.宁夏隆基光电科技有限公司，宁夏银川 750021
- 作者简介：
  
  丁晓军（1988— ），男，宁夏吴忠人，博士，讲师，硕士研究生导师；主要研究方向为机器人运动规划与运动控制；ding_xj@nmu.edu.cn。
- 基金信息：
  
  宁夏自然科学基金项目(2021AAC03172┫宁夏重点研发计划（引才专项）┣2021BEB04030)
- DOI：10.16578/j.issn.1004.2539.2024.01.005
  中图分类号：
- 纸质出版日期：2024-01-15，
  
  收稿日期：2022-10-01，
  
  修回日期：2023-01-17，
- 稿件说明：
移动端阅览
丁晓军,马琴,赵涛等.一种全向移动操作机器人建模与交互作用分析[J].机械传动,2024,48(01):28-38.

Ding Xiaojun,Ma Qin,Zhao Tao,et al.Modelling and Transactional Analysis of an Omni-directional Mobile Manipulating Robot[J].Journal of Mechanical Transmission,2024,48(01):28-38.
丁晓军,马琴,赵涛等.一种全向移动操作机器人建模与交互作用分析[J].机械传动,2024,48(01):28-38. DOI： 10.16578/j.issn.1004.2539.2024.01.005.

Ding Xiaojun,Ma Qin,Zhao Tao,et al.Modelling and Transactional Analysis of an Omni-directional Mobile Manipulating Robot[J].Journal of Mechanical Transmission,2024,48(01):28-38. DOI： 10.16578/j.issn.1004.2539.2024.01.005.

摘要

全向移动操作机器人（Omni-directional Mobile Manipulating Robots，OMMR）是由全向移动平台以及在平台上加装一个或多个操作臂组成的具有主动作业能力的新型机器人系统。在移动平台上加装操作臂后，整个系统动力学行为的复杂性将会因为移动平台与操作臂之间的耦合效应而大大增加，涉及地面-移动平台、移动平台-操作臂、操作臂-操作环境的动态交互，给系统的建模带来极大困难。在建立OMMR运动学、静力学模型的基础上，提出了一种简化的OMMR系统动力学建模方法；基于该动力学模型，建立车-臂交互作用模型并对其交互作用进行分析。仿真和实验验证了车-臂交互作用模型的正确性，间接证明了所提OMMR系统动力学建模方法的合理性和有效性，为机器人运动规划和运动控制提供了模型数据。

Abstract

The omni-directional mobile manipulator robot (OMMR) is a class of a new robot with activating operating capability

which is composed of one or more manipulators mounted on a mobile platform. However

after the manipulator is installed on the mobile platform

the coupling effect between the manipulator and the mobile platform will significantly increase the complexity of the dynamic behavior of the whole system

involving the dynamic interaction between the ground and the mobile platform

the mobile platform and the manipulator

the manipulator and the operating environment

which brings great difficulties to the modeling of the system. Based on establishing the kinematics and statics models of OMMR

this study presents a simplified modeling approach of OMMR system dynamics. Based on this dynamic model

the vehicle-manipulator interaction model is established

and its interaction is analyzed. Simulation and experiments verify the correctness of the vehicle-manipulator interaction model

indirectly prove the rationality and effectiveness of the proposed OMMR system dynamics modeling approach

and provide model data for motion planning and control of robots.

关键词

全向移动操作机器人移动平台操作臂系统建模交互作用分析

Keywords

Omni-directional mobile manipulating robotsMobile platformManipulatorSystem manipulatorTransactional analysis

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