Kinetostatic Analysis of the Service Mobile Robot with Manipulator

摘要

When creating service mobile robots with manipulators for operation in cramped rooms (home/office/hospitals), there is a problem of capturing and transporting both small-sized objects and those, that make up a significant part of the robot's weight.When constructing the control of the lifting process of such objects, the task of dynamic capture arises while maintaining the stability of the robot.The article considers the solution of the dynamics problem for the AMUR-307 mobile robot with a two-armed manipulator circuit.The basis for the construction of such control is proposed to take the solution of the dynamics problem using the kinetostatics method.The kinematics of the robot is such, that to simplify calculations, the robot body system can be considered as two-dimensional.In the process of analyzing the dynamics of the system, three main parts are distinguished: the upper links of the manipulator with the object of manipulation, the lower links of the manipulator with the drive elements of the upper links, the transport platform of the robot.The distribution of forces in different parts of a robot with a manipulator is considered.The dependence of the forces and moments of inertia on the motion of the system are found.The resulting equations linking the generalized coordinates of the robot with the efforts of the drives are a reliable basis for generating synergies for capturing, loading and moving heavy objects by the robot.