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 language | English |
|---|---|
| Pages (from-to) | 975-981 |
| Number of pages | 7 |
| Journal | Gaojishu Tongxin/Chinese High Technology Letters |
| Volume | 24 |
| Issue number | 9 |
| DOIs | |
| Publication status | Published - 1 Jan 2014 |
| Externally published | Yes |
Keywords
- Dynamic modeling
- Multi-body dynamics
- Numeric simulation
- Rigid-flexible parallel manipulator
- Wheeled suspension
ASJC Scopus subject areas
- Engineering(all)