高技术通讯2011，Vol.21Issue(3)：315-319,5.DOI:10.3772/j.issn.1002-0470.2011.03.016
2杆轮式悬架移动刚体机械手动力学瞬态稳定性研究与仿真
Study and simulation of dynamic transient stability of a 2-link wheeled-suspended mobile rigid manipulator
摘要
Abstract
The dynamic transient stability of a 2-link wheeled suspended mobile rigid manipulator, whose end-effector tracks a given trajectory, was studied. The dynamic transient stability criterion was built up based on the analysis of the manipulator' s dynamics model and the overall consideration of the reacting forces existing between the fires and the road surface.At last, the numeric simulation was carried out to the dynamic stability criterion. The simulation results truly reflected the distribution of the system's dynamic transient stability index during its working and the influence of the suspender on the stability of the whole mobile system. This criterion is suitable for evaluating the dynamic stability and muti-goal optimization of a mobile manipulator tracking a given trajectory.关键词
轮式悬架/移动刚体机械手/动力学/瞬态稳定性Key words
wheeled-suspended/ mobile rigid manipulator/ dynamics/ transient stability引用本文复制引用
杨玉维,张明路,赵新华..2杆轮式悬架移动刚体机械手动力学瞬态稳定性研究与仿真[J].高技术通讯,2011,21(3):315-319,5.基金项目
863计划(2006AA04Z221 （）
2007AA04Z203),国家自然科学基金(50675156)和天津市应用基础与前沿技术研究计划重点项目(07JCZDJC09100)资助 （50675156）
