Study of the kinetic characteristics of a wheeled-suspension mobile rigid-flexible parallel manipulator based on multi-body dynamics

Yuwei Yang, Zhenzhong Liu, Limin Dong, Yangmin Li, Xu Yuan

Research output: Journal article publicationJournal articleAcademic researchpeer-review

1 Citation (Scopus)

Abstract

In view of the fact that mobile flexible serial manipulators lack the incapability of precise positioning under the case of high speed and heavy payload, a new configuration of a wheeled suspension flexible mobile parallel manipualtor was presented, and its dynamic characteristics was studied. Based on multi-body dynamics, its dynamic model was constructed in the Cartesian coordinate system by using a general and perfect modelling method. On the basis of this, four kinds of mobile manipulators, i.e. serial, parallel, rigid and flexible, were studied by numerical simulation, and the results verified the effectiveness of the presented modelling method and the dynamic characteristics of the novel mobile manipulator. Furthermore, some techniques for improving a mobile parallel manipulator's working speed, figidity and working precision were proposed.
Original languageEnglish
Pages (from-to)975-981
Number of pages7
JournalGaojishu Tongxin/Chinese High Technology Letters
Volume24
Issue number9
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes

Keywords

  • Dynamic modeling
  • Multi-body dynamics
  • Numeric simulation
  • Rigid-flexible parallel manipulator
  • Wheeled suspension

ASJC Scopus subject areas

  • Engineering(all)

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