TOWARDS THE DYNAMICS MODELING OF SUSPENDED WHEELED MOBILE MANIPULATORS
Publish place: 15th Annual Conference of Mechanical Engineering
Publish Year: 1386
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ISME15_624
تاریخ نمایه سازی: 8 فروردین 1386
Abstract:
Mobile Manipulators which consist of one or more manipulators mounted on a mobile base absorbed much of interest because they have locomotion. In such systems, it is expected to pass through various environmental conditions such as uneven topographies or roads. A suspended wheeled mobile manipulator is a proper structure for tolerating the irregularity of the open terrain. In this study first, a general procedure for dynamics modelling of such systems is presented based on iterative Newton-Euler's formulation. Then, to verify the obtained dynamics model, another model for considered system has been constructed by ADAMS simulation software. Comparison between the results obtained from our analytical model and ADAMS software for highly coupled and nonlinear system confirms the thoroughness of the analytical model. Although the benchmark system of this paper is planar, the proposed algorithm can be easily extended for spatial 3D movement of these
complex systems. In addition, the presented approach can provide the interaction wrench(s) between mobile vehicle and arm(s).
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Authors
Khalil Alipour
Department of Mechanical Engineering K. N. Toosi Univ. of Technology, Tehran, Iran
Ali Moosavian
Department of Mechanical Engineering K. N. Toosi Univ. of Technology, Tehran, Iran
Yousef Bahramzadeh
Department of Mechanical Engineering K. N. Toosi Univ. of Technology, Tehran, Iran