Driving force analysis of the carrier of the multiple flexible wheeled suspension mobile manipulator

摘要

In this paper, the multiple flexible wheeled suspension mobile manipulator has been carried on research. The elastic deformation of the manipulator and the elastic damping of the wheeled mobile carrier have been synthetically considered. Combined with the constraint equations of the system, the independent coordinate variables and the associated coordinate variables have been extracted for the first time. It makes the configuration of the wheeled suspension mobile manipulator more concise. On the basis of it, the driving force model containing the elastic variable of the flexible manipulator components of the wheeled suspension mobile carrier has been calculated with Newton-Euler method. Finally the simulation analysis has been proved the rationality of the model and the necessity of considering flexible factors.