应用数学和力学2023，Vol.44Issue(12)：1473-1490,18.DOI:10.21656/1000-0887.440025
移动机械臂的层级聚合建模方法研究
A Hierarchical Aggregation Modelling Method for Mobile Manipulators
摘要
Abstract
The coupling effects of mobile manipulators on the motion characteristics of mobile platforms during the dynamic operation process,would increase the complexity and nonlinearity of the whole system and then bring great challenges to the system modelling.A new hierarchical aggregation modelling method was proposed to solve this issue.The method is based on the hierarchical properties of the Udwadia-Kalaba(UK)theory in the analytical mechanics.First,the mobile manipulator was divided into 3 subsystems,and the unconstrained dynamics of each one was modelled with the Lagrangian equations.Subsequently,the basic Udwadia-Kalaba e-quations(UKE)were employed to model the overall system,in view of the constraints within the mechanical structure of the mobile manipulator.In addition,the Lyapunov stability-based theory was used to compensate for the initial condition deviations to achieve convergence of the ideal trajectory.Simulation results validate the feasibility of the proposed modelling method.关键词
Udwadia-Kalaba方法/层级聚合建模方法/移动机械臂/动力学建模Key words
Udwadia-Kalaba method/hierarchical aggregation modelling method/mobile manipulator/dynam-ical modelling分类
力学引用本文复制引用
董方方,杨超,韩江,张新荣..移动机械臂的层级聚合建模方法研究[J].应用数学和力学,2023,44(12):1473-1490,18.基金项目
国家自然科学基金项目(52275484) （52275484）
安徽省自然科学基金项目(2208085ME126)本文作者衷心感谢陕西省高速公路施工机械重点实验室(长安大学)开放基金(300102252505)对本文的资助. （2208085ME126）
