Study of dynamic characteristic of a wheeled suspension flexible mobile parallel manipulator based on multi-flexible-body dynamics

摘要

Since mobile flexible serial manipulators lack the incapability of precise positioning under the cases of high speed and heavy payload, the new configuration of a wheeled suspension flexible mobile parallel manipulator is presented. Based on multi-flexible-body dynamics, its dynamic model is formulated in Cartesian coordinate system with considering generality and integration of the modelling method. At last, in order to verify the effectiveness of the presented modeling method and the dynamic characteristics of the novel mobile manipulator, a comparative assessment of the dynamic models is validated through numeric simulations.