Dynamics Modeling And Error Modeling Of Wheeled Suspension Mobile Platform

With the rapid development of science and technology, the robot has been integratedinto the human society. Wheeled mobile robot as the main branch of robot, is widelyapplied. Nowadays, the research of wheeled mobile robot, the majority is the executivebody of the mobile platform, and especially of wheeled mobile platform with suspension ofless and less. This paper studied the wheeled suspended mobile platform, kinematics,dynamics and error model for it and analysis.In this paper, the main research contents and innovative results are as follows:First, research status of wheeled mobile robot is analyzed in this paper, the suspensionsystem for a wheeled robot. Use the D-H rule, the right front kinematics model isestablished for example mobile platform round the heart, between the centroid position andthe center of the wheel position; for wheeled mobile platform from the linear motion, CISthree aspects clockwise and counterclockwise rotation motion motion analysis themovement form, and list the equation of motion.Second, based on the theoretical model, build two degrees of freedom dynamic modelfor quarter car. Then four degrees of freedom dynamic model for half car and seven degreesof freedom dynamic model for the car. Finally, the kinetic equations are educed.Third, establish the dynamic model of the paper, using Matlab/Simulink for theperformance evaluation of simulation platform, including the centroid of the verticaldisplacement, velocity, acceleration and platform overall angle (pitch angle and roll angle)displacement, velocity, acceleration and other variables were tracking, the time domainresponse curve. Comparison of simulation curve smoothness, stability analysis in joiningthe wheeled mobile platform and the suspension. The correctness of the necessity of addingthe suspension and the model.Forth, the influence of error wheeled suspended mobile platform are classified andanalyzed, the static error model and the dynamic error model wheeled suspended mobileplatform are established, based on the simulation and analysis model by usingMatlab/Simulink, the main factor influencing the error.