Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm

Wei Chen, Lipu Wei, Xiuping Yang, Jinjin Guo, Xizheng Zhang, Xuping Zhang

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    2 Citationer (Scopus)

    Abstract

    Considerable research attentions have recently been paid toward a mobile manipulator (a robot arm standing on a mobile platform) due to its extended workspace beyond the manipulator reach. Mobile manipulators have a wide range of potential applications where it is desirable to achieve higher degree of flexibility in transport and handling task. However, a vast number of research publications only focus on trajectory planning. This preliminary research work presents dynamic modeling and analysis of a mobile flexible robot arm with aims to provide insights for the design and control of such mobile robot manipulators. In this work, the dynamic model is developed using a computationally efficient method: Discrete Time Transfer Matrix Method (DT-TMM). The concepts and principle of DT-TMM are briefly overviewed, and then are applied to a mobile flexible robot arm for dynamic modeling with the detailed procedure. Numerical simulations and dynamic analyses are performed to illustrate the effectiveness of the proposed dynamic modeling method, and to provide the clues for our ongoing research work in the design and control of mobile robot manipulators.

    OriginalsprogEngelsk
    Titel14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control : Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
    Antal sider10
    Vol/bind6
    ForlagAmerican Society of Mechanical Engineers
    Publikationsdato2018
    ArtikelnummerDETC2018-85835
    ISBN (Elektronisk) 978-0-7918-5183-8
    DOI
    StatusUdgivet - 2018
    Begivenhedthe ASME 2018 International Design Engineering
    Technical Conferences and Computers and Information in Engineering Conference
    - Quebec City , Canada
    Varighed: 26 aug. 201829 aug. 2018

    Konference

    Konferencethe ASME 2018 International Design Engineering
    Technical Conferences and Computers and Information in Engineering Conference
    Land/OmrådeCanada
    ByQuebec City
    Periode26/08/201829/08/2018

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