Dynamic Modeling of Spatial Cooperation Between Dual-Arm Mobile Manipulators

DONG Fangfang; YU Bin; ZHAO Xiaomin; CHEN Shan

doi:10.21656/1000-0887.420223

Volume 43 Issue 8

Aug. 2022

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Article Navigation > Applied Mathematics and Mechanics > 2022 > 43(8): 846-856

DONG Fangfang, YU Bin, ZHAO Xiaomin, CHEN Shan. Dynamic Modeling of Spatial Cooperation Between Dual-Arm Mobile Manipulators[J]. Applied Mathematics and Mechanics, 2022, 43(8): 846-856. doi: 10.21656/1000-0887.420223

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Dynamic Modeling of Spatial Cooperation Between Dual-Arm Mobile Manipulators

doi: 10.21656/1000-0887.420223

DONG Fangfang^{1, 2},
YU Bin¹,
ZHAO Xiaomin^{3
,
,},
CHEN Shan¹

1.
School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, P.R.China
2.
Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei 230009, P.R.China
3.
School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, P.R.China

Received Date: 2021-08-02
Rev Recd Date: 2021-11-02

Available Online: 2022-07-05

Publish Date: 2022-08-01

Abstract

Abstract

The complex nonlinear coupling in the spatial cooperation process of mobile manipulators, makes it extremely tedious to directly model the spatial cooperative systems with the Lagrange equation or the Newton-Euler method. A dynamic modeling method, combining the Udwadia-Kalaba (U-K) method with the Lagrange equation, was proposed for spatial cooperation of dual-arm mobile manipulators. The load was simplified as a connecting link during modeling. The load center was selected to be disconnected for decomposition, so that the lack of constraint information was avoided between the end joint angle and the end link angle caused by the disconnection of the manipulator end joint; the segmented 2 subsystems were modeled with the Lagrange equation, thus, the dynamic model for the subsystems was obtained. The inherent geometric relationships of the cooperative system were introduced in the form of constraints, and the U-K method was applied to obtain the dynamic model for the cooperative system. The computation for modeling was reduced. The numerical simulation verifies the accuracy of the model.
- Udwadia-Kalaba method,
- dynamic modeling,
- cooperative manipulator,
- mobile manipulator

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References(25)

References

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