【摘要】 针对由双轮差速驱动自动引导小车和6自由度操作机构成的移动操作机器人,采用NewtonEuler方法,分别建立了操作机和AGV小车的动力学模型,再将两者联系起来,分析移动操作过程中小车的运动对操作机关节力矩的影响以及操作机关节运动对小车受力状态的影响情况,提出了该种移动机器人相对于单个AGV小车和工业机器人操作机,在设计与控制中应满足的条件。给出的动力学模型为该种移动机器人控制提供了依据。更多还原

【Abstract】 Aimed at a mobile robot composed of a two-wheel differentially driven AGV(automatic guided vehicle) and a manipulator with 6 degrees of freedom(DOFs), the dynamics models of the manipulator and the AGV were established respectively by using Newton-Euler method. Then two models were combined to analyze the interplay of the AGV’s movement and the manipulator joint movement in moving manipulation. An example was given to explain the interplay result of two parts in detail, in the process of moving manipulation, manipulator joint force and moment were impacted by the base movement of AGV, at the same time, the manipulator joint movement brought the load varying of AGV which might change the moving state of AGV. Some important rules about this kind of robot relative to a single AGV and a single manipulator in designing and controlling were put forward. The dynamics models provided a foundation for designing and controlling this kind of mobile manipulator.更多还原