Dynamics of Suspended Wheeled Manipulators

The mobility requirements on a rough terrain make a suspended wheeled mobile robot (SWMR) with multiple dexterous manipulators an appropriate choice. In this study, a general approach for dynamics modeling of such systems will be discussed. First, based on Newton-Euler's formulation for a chain of rigid bodies, model of such complicated systems in three dimensional maneuvers is developed. To this end, a sixteen degree-of-freedom SWMR is considered as a benchmark system. The studied platform contains both sprung and unsprung elements. Then, in order to verify the proposed modeling approach another model is developed for the same system using the commercial multibody dynamic simulation software package MSC.ADAMS. Comparison between the results obtained from these two models confirms the soundness of the proposed approach. The presented approach can take into account and add any kind of tire friction model. The results of this investigation can be employed to conduct a model-based controller for autonomous SWMRs. In addition, the obtained simulation model provides an inexpensive tool for designers of such systems to examine the behaviour of them and optimize their attributes.

کلیدواژه ها:

Suspension ، Wheeled Mobile Manipulators ، Dynamics Modeling ، Rough Terrain