苑光明,杨玉维,张明路

• 1:河北工业大学机械工程学院

摘要(Abstract)：

针对2杆轮式移动机械手运动学、动力学、稳定性(平面)等问题进行了系统研究.假定移动载体以恒速通过不规则路面(路面以正弦函数描述)的同时,机械手末端执行器跟踪给定轨迹.通过分析系统约束方程组并采用Cartesian坐标分别得出系统构型位置、速度、加速的反解;应用牛顿-欧拉方程,建立该轮式移动机械手系统的完整逆动力学模型;以该动力学模型的分析结果为基础,得出轮胎支反力和水平驱动力,并综合考虑轮胎与路面间的摩擦,评价了系统在执行既定任务时的稳定性.由于Cartesian坐标的应用,致使该运动学、动力学等模型和稳定性评价标准等的推导具有通用性,从而为移动机械手性能的研究提供了相应借鉴.

关键词(KeyWords)： 2杆轮式移动机械手;运动学;动力学;稳定性

Abstract:

Keywords:

基金项目(Foundation): 国家高技术研究发展计划项目(2006AA04Z221)

作者(Author): 苑光明,杨玉维,张明路

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