Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm

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

doi:10.1115/DETC2018-85835

Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm

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

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

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.

Original language	English
Title of host publication	14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control : Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
Number of pages	10
Volume	6
Publisher	American Society of Mechanical Engineers
Publication date	2018
Article number	DETC2018-85835
ISBN (Electronic)	978-0-7918-5183-8
DOIs	https://doi.org/10.1115/DETC2018-85835
Publication status	Published - 2018
Event	the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Quebec City , Canada Duration: 26 Aug 2018 → 29 Aug 2018

Conference

Conference	the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Country/Territory	Canada
City	Quebec City
Period	26/08/2018 → 29/08/2018

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10.1115/DETC2018-85835

http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=2713650&resultClick=1

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Chen, W., Wei, L., Yang, X., Guo, J., Zhang, X., & Zhang, X. (2018). Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm. In 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control: Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (Vol. 6). Article DETC2018-85835 American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2018-85835

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title = "Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm",

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.",

author = "Wei Chen and Lipu Wei and Xiuping Yang and Jinjin Guo and Xizheng Zhang and Xuping Zhang",

year = "2018",

doi = "10.1115/DETC2018-85835",

language = "English",

volume = "6",

booktitle = "14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control",

publisher = "American Society of Mechanical Engineers",

note = "the ASME 2018 International Design Engineering<br/>Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 ; Conference date: 26-08-2018 Through 29-08-2018",

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Chen, W, Wei, L, Yang, X, Guo, J, Zhang, X & Zhang, X 2018, Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm. in 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control: Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. vol. 6, DETC2018-85835, American Society of Mechanical Engineers, the ASME 2018 International Design Engineering
Technical Conferences and Computers and Information in Engineering Conference, Quebec City , Canada, 26/08/2018. https://doi.org/10.1115/DETC2018-85835

Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm. / Chen, Wei ; Wei, Lipu; Yang, Xiuping et al.
14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control: Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6 American Society of Mechanical Engineers, 2018. DETC2018-85835.

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm

AU - Chen, Wei

AU - Wei, Lipu

AU - Yang, Xiuping

AU - Guo, Jinjin

AU - Zhang, Xizheng

AU - Zhang, Xuping

PY - 2018

Y1 - 2018

N2 - 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.

AB - 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.

U2 - 10.1115/DETC2018-85835

DO - 10.1115/DETC2018-85835

M3 - Article in proceedings

VL - 6

BT - 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control

PB - American Society of Mechanical Engineers

T2 - the ASME 2018 International Design Engineering<br/>Technical Conferences and Computers and Information in Engineering Conference

Y2 - 26 August 2018 through 29 August 2018

ER -

Chen W, Wei L, Yang X, Guo J, Zhang X, Zhang X. Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm. In 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control: Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6. American Society of Mechanical Engineers. 2018. DETC2018-85835 doi: 10.1115/DETC2018-85835

Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm

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