K. Alipour, S.A.A. Moosavian, and Y. Bahramzadeh
Mobile manipulators, dynamics modelling, suspension system, MSC.ADAMS software
Field Robots are defined as robotic systems that can work in unstructured environments. Handling the mobility requirements of a challenging rough terrain makes a suspended wheeled mobile robot (SWMR), with multiple dexterous manipulators, a proper field robot design. In this study, a general systematic procedure for dynamics modelling of such complicated systems is presented based on Newton–Euler’s formulation for a chain of rigid bodies. Then, to verify the obtained dynamics model, another model for the considered system is developed using the commercial multibody dynamic simulation package MSC.ADAMS. Comparison between the results obtained from these two models confirms the thoroughness of the proposed modeling approach. The presented approach can also provide the interaction wrench(es) between the mobile base and the mounted arm(s). Therefore, the developed model along with a proper postural stability metric can be employed for stable planning and model-based control of autonomous SWMRs to perform object manipulation tasks. Besides, the obtained simulation model provides an efficient tool for designers of such systems to examine various behaviours and optimize relevant characteristics.
Important Links:
Go Back
