Unified Dynamic Analysis of Crawler Picking Robot Based on RecurDyn
Based on the current research status of picking robot in China,a crawler picking robot with a crawler mobile plat-form as the chassis and a manipulator is designed.At the same time,in view of the current situation that the research on tracked mo-bile robot often separates the mobile platform from the carrying actuator to study its motion performance respectively,taking the de-signed robot as the research object,the kinematics models of manipulator and tracked mobile platform are established respectively,and the two are combined to establish the unified dynamic equation of the whole vehicle.According to the theoretical analysis,the complete dynamic model of the robot is established in RecurDyn.Through the simulation experiment,the driving characteristics of the manipulator and the mobile chassis under the dynamic interference are analyzed,and one method to improve the stability of the vehicle is proposed.The feasibility of the proposed method is reasonably verified through the experiment,and the relevant values are obtained.
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维普
