Dynamics study and simulation on 4DOF wheel typed suspension mobile manipulator

A systematical study aiming at the(planar) dynamic problems of 4DOF wheel typed suspension mobile manipulator was carried out.This wheel typed mobile manipulator was constituted by the mobile carrier of the 2DOF linear elastic——damping suspension system and the 2DOF manipulator,and assuming the mobile carrier was passing through an irregular road surface,which was described in terms of sine function,with a constant speed.By utilizing synthetically the Lagrangion principle and the Newton–Euler equation and adopting the Cartesian coordinates,the complete dynamics model(forward and inverse dynamics model) of this wheel typed mobile manipulator system was established.This dynamics model considered the coupling influence of the road surface and suspension on the integer systematic dynamics.Finally,by adopting the numerical method the simulation results of the inverse solutions of this dynamics model were given out respectively on the working conditions with and without considering the suspensions.This model provided corresponding theoretical basis for the selection of controlling strategy of subsequent systems.At the same time on account of the Cartesian coordinates has been adopted by this dynamics model thus made the derivation of this dynamics model be provided with commonality,and a corresponding source of reference was provided for the dynamics research of mobile manipulator.