Analytical Dynamic Modeling and Simulation of Climbing Robot
-
摘要: 针对爬壁机器人的动力学建模问题，通过构造虚拟机构将爬壁机器人转换为具有固定基的开链系统，基于旋量理论并借助传统的拉格朗日建模方法给出了爬壁机器人未受约束时的动力学方程。借助Udwadia-Kalaba理论的建模思想，获得了爬壁机器人在预定轨迹下的解析动力学方程，避免了传统拉格朗日方程对于拉格朗日算子的依赖。数值仿真结果证明了该方法的有效性。
-
关键词:
- 爬壁机器人 /
- 动力学建模 /
- 旋量理论 /
- Udwadia-Kalaba理论
Abstract: Climbing robot is a typical rootless multi-body system. It was difficult to establish its dynamical equation with traditional Lagrange equation by means of Lagrange multiplier. A simple dynamics modeling method was presented to covert climbing robot into the multi-body system with fixed base through adding the dynamic nominal mechanism between the robot and the ground reference frame. The dynamical equation without constraint condition was firstly established using traditional Lagrange equation and screw theory. Then dynamical equation of climbing robot subject to some desired trajectory was acquired based on the Udwadia-Kalaba theory, which overcomed the disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier. The stimulation results of the motion trajectory of climbing robot proved that the dynamical equation established by this method conforms to the matter of fact.-
Key words:
- climbing robot /
- dynamics modeling /
- screw theory /
- Udwadia-Kalaba theory
-
[1] GHAFFARI A, SHARIATI A, SHAMEKHI A H. A modified dynamical formulation for two-wheeled self-balancing robots[J]. Nonlinear Dynamics, 2016, 83(1-2): 217-230 doi: 10.1007/s11071-015-2321-9 [2] KIM S, KWON S. Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot[J]. International Journal of Control, Automation and Systems, 2015, 13(4): 926-933 doi: 10.1007/s12555-014-0564-8 [3] ZHONG G L, KOBAYASHI Y, HOSHINO Y, et al. System modeling and tracking control of mobile manipulator subjected to dynamic interaction and uncertainty[J]. Nonlinear Dynamics, 2013, 73(1-2): 167-182 doi: 10.1007/s11071-013-0776-0 [4] WANG Y N, WU X R. Neural networks-based adaptive robust control of crawler-type mobile manipulators using sliding mode approach[J]. Industrial Robot, 2012, 39(3): 260-270 doi: 10.1108/01439911211217099 [5] TSAI C C, CHENG M B, LIN S C. Dynamic modeling and tracking control of a nonholonomic wheeled mobile manipulator with dual arms[J]. Journal of Intelligent and Robotic Systems, 2006, 47(4): 317-340 doi: 10.1007/s10846-006-9072-2 [6] UDWADIA F E, WANICHANON T. Control of uncertain nonlinear multibody mechanical systems[J]. Journal of Applied Mechanics, 2014, 81(4): 041020 doi: 10.1115/1.4025399 [7] UDWADIA F E, WANICHANON T, CHO H. Methodology for satellite formation-keeping in the presence of system uncertainties[J]. Journal of Guidance, Control, and Dynamics, 2014, 37(5): 1611-1624 doi: 10.2514/1.G000317 [8] UDWADIA F E, KOGANTI P B. Dynamics and control of a multi-body planar pendulum[J]. Nonlinear Dynamics, 2015, 81(1-2): 845-866 doi: 10.1007/s11071-015-2034-0 [9] SCHUTTE A, UDWADIA F E. Explicit control force and torque determination for satellite formation-keeping with attitude requirements[J]. Journal of Applied Mechanics, 2011, 78(2): 1-11 doi: 10.2514/1.55873 [10] LIU J, LIU R. Dynamic modeling of dual-arm cooperating manipulators based on Udwadia-Kalaba equation[J]. Advances in Mechanical Engineering, 2016, 8(7): 1-10 http://ade.sagepub.com/content/8/7/1687814016658849.abstract [11] YANG X L, CHEN Z Y, XU S P, et al. Udwadia-Kalaba approach for three link manipulator dynamics with motion constraints[J]. IEEE Access, 2019, 7: 49240-49250 doi: 10.1109/ACCESS.2019.2909934 [12] LYU G Z, LIU R. Determination of stability correction parameters for dynamic equations of constrained multibody systems[J]. Mathematical Problems in Engineering, 2018, 2018: 8945301 http://www.researchgate.net/publication/324988557_Determination_of_Stability_Correction_Parameters_for_Dynamic_Equations_of_Constrained_Multibody_Systems [13] XU Y R, LIU R. Dynamic modeling of constrained planar multibody systems: A case of lower limbs rehabilitative robot[J]. Journal of Mechanical Science and Technology, 2018, 32(7): 3389-3394 doi: 10.1007/s12206-018-0642-6 [14] XU Y R, LIU R. Concise method to the dynamic modeling of climbing robot[J]. Advances in Mechanical Engineering, 2017, 9(2): 168781401769167 http://www.researchgate.net/publication/313252353_Concise_method_to_the_dynamic_modeling_of_climbing_robot [15] 徐亚茹, 刘荣. 一种爬壁机器人动力学建模方法[J]. 北京航空航天大学学报, 2018, 44(2): 280-285 https://www.cnki.com.cn/Article/CJFDTOTAL-BJHK201802009.htmXU Y R, LIU R. An approach for dynamic modeling of climbing robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(2): 280-285 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-BJHK201802009.htm [16] CHEN Y H. Second-order constraints for equations of motion of constrained systems[J]. IEEE/ASME Transactions on Mechatronics, 1998, 3(3): 240-248 doi: 10.1109/3516.712120 [17] SUN H, ZHAO H, ZHEN S C, et al. Application of the Udwadia-Kalaba approach to tracking control of mobile robots[J]. Nonlinear Dynamics, 2016, 83(1-2): 389-400 doi: 10.1007/s11071-015-2335-3 [18] UDWADIA F E, PHOHOMSIRI P. Explicit equations of motion for constrained mechanical systems with singular mass matrices and applications to multi-body dynamics[J]. Proceedings of the Royal Society A, 2006, 462(2071): 2097-2117 doi: 10.1098/rspa.2006.1662 [19] CHO H, UDWADIA F E. Explicit solution to the full nonlinear problem for satellite formation-keeping[J]. Acta Astronautica, 2010, 67(3-4): 369-387 doi: 10.1016/j.actaastro.2010.02.010 -
下载:
点击查看大图
图(7)
计量
- 文章访问数: 196
- HTML全文浏览量: 177
- PDF下载量: 58
- 被引次数: 0
