2杆轮式悬架移动刚体机械手动力学瞬态稳定性研究与仿真

摘要

The dynamic transient stability of a 2-link wheeled suspended mobile rigid manipulator, whose end-effector tracks a given trajectory, was studied. The dynamic transient stability criterion was built up based on the analysis of the manipulator' s dynamics model and the overall consideration of the reacting forces existing between the fires and the road surface.At last, the numeric simulation was carried out to the dynamic stability criterion. The simulation results truly reflected the distribution of the system's dynamic transient stability index during its working and the influence of the suspender on the stability of the whole mobile system. This criterion is suitable for evaluating the dynamic stability and muti-goal optimization of a mobile manipulator tracking a given trajectory.%研究了2杆轮式悬架移动刚体机械手(平面)在其末端执行器跟踪给定轨迹工况下的动力学瞬态稳定性.在进行系统动力学模型分析的基础上,综合考虑了轮胎与路面作用力,给出了系统瞬态动力学稳定性评价准则,并进行了数值仿真,仿真结果真实反映了系统在执行任务时动力学瞬态稳定性分布情况及悬架对系统整体稳定性的影响.该准则适用于移动机械手轨迹跟踪工况下的稳定性评价,或以该准则为约束条件,进行系统多目标优化.