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Journal:Applied Mathematical Modelling

Key Words:Canonical dynamic equation; Tree-chain; Rigid-body; Joint-space inertia matrix (JSIM)

Abstract:This paper, being the second part in a two-part series, proposes an explicit method to obtain canonical dynamic equations for tree-chain rigid-body system. The equations are in the form of linear dimensional joint-space inertia matrix and bias force vector, and each element of which can be expressed explicitly. The explicit expression is concise and straightforward, which reduces the difficulty of engineering implementation and improves the modeling efficiency. Besides, due to the independence of matrix elements, the computational efficiency can be improved by symmetry of inertia matrix and parallel computing. Finally, a planar three degrees of freedom manipulator is used to verify the correctness. The simulation software for lunar rover and Mars rover are developed based on our proposed method. And the real-time performance and modeling convenience of our proposed method are demonstrated by comparison with the same simulation developed by Open Dynamics Engine.

Indexed by:Journal paper

ISSN No.:0307-904X

Translation or Not:no

Date of Publication:2022-05-18