Dynamic Analysis of a 6-DOF Wheeled Mobile Robot

Abstract

Abstract The Mobile robot is a hot research topic in the research field of robotics. Combined robotic arms and wheeled mobile platforms, a novel mobile robot of six degrees of freedom is researched in this work. On the basis of Lagrange formulations, the dynamic model of the robot is developed. By employing the Adams software, the simulations of the direct and inverse dynamics of the robot are completed. The results indicate that under the conditions of constant driven forces or torques, the upper arm, forearm and rotational platform have the same motion period. In the first five seconds, the accelerations of upper arm, forearm and rotational platform research their peak values respectively, when the time equals 4.63s. Influenced by the motions of upper arm and forearm, the translational platform will obtain kinetic energies in the horizontal plane. Exerting periodic motions on the upper arm and forearm, the corresponding drive forces or torques have the same period with the motions of the upper arm and forearm. The driven forces and torques of the upper arm and forearm have multiple extreme points in one motion period. The motion laws of the robot is of positive significance for its design of controller and path planning.