扩展移动机器人的动力学建模:由N平行轴、悬挂系统和车轮滑移组成

IF 1.4 4区工程技术 Q2 ENGINEERING, MULTIDISCIPLINARY

Scientia Iranica Pub Date : 2023-05-10 DOI:10.24200/sci.2023.56722.4874

Scientia Iranica, M. H. Korayem, S. F. Dehkordi, M. Aghajari

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引用次数: 0

摘要

．本文设计并研制了一种新型N轴并联移动机器人结构，并推导了其运动方程。它使用了几个平行轴，这增加了它在di(cid:11)事件表面条件下的迁移率。由于车轮接触面积的增加，这种机器人系统中平行轴的数量使得必须研究滑移的e(cid:11)效应。这些e(cid:11)在移动机器人运动学约束方程中构成了一个d (cid:11)引用。另一方面，增加的平行轴为在粗糙和不平整的表面上运动做好了准备。但移动平台需要一个悬架系统来减少由于(cid:13)门引起的e(cid:11)次方的振荡。最后，利用拉格朗日方程建立了考虑轮滑、悬架、平行轴等因素的移动机器人动力学模型。最后，对两轴四轮移动机器人在di(cid:11)事件表面条件下的仿真结果进行了分析。可以看出，在(cid:13)条件下，机器人的偏差明显，车轮滑移a(cid:11)影响了系统性能。因此，机器人在冰上的偏差小于在松散砾石上的偏差

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Dynamic modeling of the extended mobile robot: Composed N parallel axles, suspension system, and wheels slippage

. In this study, the new mobile robot structure with N parallel axles was designed and developed, as well as its motion equations derived. It uses several parallel axes, which increase its mobility at di(cid:11)erent surface conditions compared to similar ones. The number of parallel axes in such robotic systems makes studies of the e(cid:11)ect of slip mandatory due to the increase in the wheels’ contact area. These e(cid:11)ects make a di(cid:11)erence in the mobile robot kinematic constraints equations. On the other hand, added parallel axels prepare the capability for motion on rough and uneven surfaces. But the mobile platform requires a suspension system to reduce the e(cid:11)ects of oscillations due to the (cid:13)oor. Finally, the dynamics model of a mobile robot obtains by considering the e(cid:11)ect of wheels’ slips, suspension, and parallel axles using Lagrange equations. The concluded model is simulated for a two-axis mobile robot with four wheels in di(cid:11)erent surface conditions. It can be seen that the deviation of the robot is eminent, besides that the wheel’s slips a(cid:11)ect the system performance based on the (cid:13)oor conditions. Consequently, the robot deviation on ice is less than that on loose gravel

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来源期刊

Scientia Iranica 工程技术-工程：综合

CiteScore

2.90

自引率

7.10%

发文量

审稿时长

2 months

期刊介绍： The objectives of Scientia Iranica are two-fold. The first is to provide a forum for the presentation of original works by scientists and engineers from around the world. The second is to open an effective channel to enhance the level of communication between scientists and engineers and the exchange of state-of-the-art research and ideas. The scope of the journal is broad and multidisciplinary in technical sciences and engineering. It encompasses theoretical and experimental research. Specific areas include but not limited to chemistry, chemical engineering, civil engineering, control and computer engineering, electrical engineering, material, manufacturing and industrial management, mathematics, mechanical engineering, nuclear engineering, petroleum engineering, physics, nanotechnology.