Abstract
The random excitation due to road roughness has some effects on a mobile manipulator. Its reliability and stability are reduced. Here, firstly the dynamic model in vertical direction of its mobile plat was built with Lagrange method, and the dynamic model of the manipulator was built with the finite element method (FEM). And then the two models were rebuilt into a whole model of the mobile manipulator with the constraint conditions at the connected nodes. Using the accurate and highly efficient pseudo-excitation method (PEM), the precise time-integration method (PIM) and the built dynamic model, the dynamic response power spectral density (PSD) of the mobile manipulator under non-stationary random excitation due to road roughness was obtained. This result provided a valuable reference for design of suspension of a mobile manipulator.
| Original language | English |
|---|---|
| Pages (from-to) | 72-75 |
| Number of pages | 4 |
| Journal | Zhendong yu Chongji/Journal of Vibration and Shock |
| Volume | 32 |
| Issue number | 20 |
| State | Published - 15 Oct 2013 |
Keywords
- Mobile manipulator
- Pseudo-excitation
- Vibration analysis
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