Analysis of Dynamic Interaction Issues for Omnidirectional Mobile Robot

摘要

Omnidirectional welding mobile robot (Omni-WMR) consists of amanipulator mounted on the mobile platform equipped with omnidirectional wheel. Omnidirectional mobile robots have the capability to move in any direction and hence it is finding a prominent place in many applications in manufacturing and processing industries. This capability avoids the transportation of heavy and lengthy material to the workspace. As the manipulator mounted on the mobile platform while performing the task, it is necessary to study the effect of platform motion on the dynamic behavior of manipulator and vice versa. This paper is focused on the dynamic interaction between manipulator and platform. For this, coupled dynamic model of Omni-WMR is developed. To evaluate this approach, two different case studies are presented in this paper. Results show that there is a significant change in torque values developed at manipulator joints due to the platform motion and vice versa as well as change in position of the manipulator.