The Research Of Tri-wheelde Mobile Robot Dynamics Based On Advanced Computer Language Description

Robot is a complex multi-body mechanical system, Kinetics is extremelycumbersome, with the popularity of robot application in life, the structure of robot isbecoming more and more complex and of diversity, computer-oriented research onmulti-body dynamics of robot draws more and more attentions of scholars at home andabroad. Tri-wheeled-mobile robot is a simplification of the wheeled mobile robot; study thedynamics of Tri-wheeled-mobile robot helps other General Dynamics of wheeled mobilerobots. According to the method of model description language which is used in automaticsymbols modeling of multi-body Dynamics modeling software, the language data model oftri-wheeled-mobile robot is established, with which kinetics model is derived.Innovative work of this article includes:1. Structure data which describes the physical parameters and logical relationshipparameters of Tri-wheeled-mobile robot is established, using MATLAB language.According to this kind of programming technique, the forward-kinematic expression isdeduced.2. Based on three kinds of dynamic method, Lagrange’s equations, Newton-Euler method,as well as multi-body vector dynamics equations which are deduced from the theoremof particle dynamics, symbolic expressions of Tri-wheeled-mobile robot is deduced. Inaddition, the symbolic expression results were also achieved mutual authentication.Under a set of physical parameters the dynamic symbolic expressions is explained insimulation.3. According to Lagrange’s equation, the expressions of driving torque are derived in threedrive modes and three kinds of dynamic singular configurations are found.4. Based on the method of Newton-Euler, all the ground constraint reaction forceexpressions of the three wheels were deduced.5. According to the deduced rigid body vector dynamics equations, the ZMP expressionswhich are expressed in the coordinate system of the robotic body are obtained,meanwhile, vector dynamics equations which are suitable for small-displacementsystem is available, such as vehicles.