Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator
In order to improve the control precision of the omnidirectional mobile manipulator, its kinematics model and dynamics model are established. Firstly，the kinematics model of the omnidirectional mobile platform is established according to the characteristics of the Mecanum wheel. The kinematics equat...
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| Format: | Article |
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Editorial Office of Journal of Mechanical Transmission
2019-06-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.06.012 |
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| author | Hong Zhang Yumin Zeng Tongde Wang |
| author_facet | Hong Zhang Yumin Zeng Tongde Wang |
| author_sort | Hong Zhang |
| collection | DOAJ |
| description | In order to improve the control precision of the omnidirectional mobile manipulator, its kinematics model and dynamics model are established. Firstly，the kinematics model of the omnidirectional mobile platform is established according to the characteristics of the Mecanum wheel. The kinematics equation of the 5-DOF manipulator is derived according to the DH rule， and the unified kinematics equation is derived by combining the basis coordinate of manipulator with the centroid of mobile platform. Then，based on the kinematics model，by using the second type of Lagrangian equation，considering the coupling relationship between the mobile platform and the manipulator，considering the energy dissipation problem，the unified dynamics model of the omnidirectional mobile manipulator is established. Finally，the experimental prototype is built according to the design，and two different torque indirect measurement methods are used. The real-time torque is measured in different motion modes of the prototype，and compared with the calculated torque value calculated by the dynamics equation. The result shows that the built dynamics model is correct and reliable，which provides a theoretical basis for future motion control. |
| format | Article |
| id | doaj-art-961b1c06462243c08c5b9d9c3ae1b92e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-961b1c06462243c08c5b9d9c3ae1b92e2025-01-10T14:00:10ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-06-0143646930640713Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile ManipulatorHong ZhangYumin ZengTongde WangIn order to improve the control precision of the omnidirectional mobile manipulator, its kinematics model and dynamics model are established. Firstly，the kinematics model of the omnidirectional mobile platform is established according to the characteristics of the Mecanum wheel. The kinematics equation of the 5-DOF manipulator is derived according to the DH rule， and the unified kinematics equation is derived by combining the basis coordinate of manipulator with the centroid of mobile platform. Then，based on the kinematics model，by using the second type of Lagrangian equation，considering the coupling relationship between the mobile platform and the manipulator，considering the energy dissipation problem，the unified dynamics model of the omnidirectional mobile manipulator is established. Finally，the experimental prototype is built according to the design，and two different torque indirect measurement methods are used. The real-time torque is measured in different motion modes of the prototype，and compared with the calculated torque value calculated by the dynamics equation. The result shows that the built dynamics model is correct and reliable，which provides a theoretical basis for future motion control.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.06.012Mecanum wheelMobile manipulatorLagrange equationTorque measurement |
| spellingShingle | Hong Zhang Yumin Zeng Tongde Wang Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator Jixie chuandong Mecanum wheel Mobile manipulator Lagrange equation Torque measurement |
| title | Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator |
| title_full | Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator |
| title_fullStr | Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator |
| title_full_unstemmed | Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator |
| title_short | Dynamics Modeling and Experimental Analysis of Omnidirectional Mobile Manipulator |
| title_sort | dynamics modeling and experimental analysis of omnidirectional mobile manipulator |
| topic | Mecanum wheel Mobile manipulator Lagrange equation Torque measurement |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.06.012 |
| work_keys_str_mv | AT hongzhang dynamicsmodelingandexperimentalanalysisofomnidirectionalmobilemanipulator AT yuminzeng dynamicsmodelingandexperimentalanalysisofomnidirectionalmobilemanipulator AT tongdewang dynamicsmodelingandexperimentalanalysisofomnidirectionalmobilemanipulator |