چكيده به لاتين
For dynamical simulation, designing a control system and obtaining precise positioning of robots in motion, it is inevitable to extract the motion equations of mobile robots. This issue makes it impossible to obtain system equations manually when the dynamic model of the system becomes complex (N wheel robot or N link flexible manipulator), so, for convenient use, the recursive method in solving equations is Used. Euler-Lagrange formulations are used to obtain the motion equations so that the equations of motion of the n-axis mobile robot with non-holonomic and holonomic constraints and the equations of motion of the flexible link with revolute–prismatic are systematically derived. This mobile robot has n-axis and 2n wheel, and for each wheel has assumed the displacement of longitudinal and lateral slip, backlash, stiffness, and friction. Also, the flexible arm that is examined in this system consists of an open kinematic chain. For the flexible arms, Euler-Bernoulli beam theory and waveforms associated with this theory are used. In addition, two important damping mechanisms, including the kelvin-Voight damping, as internal damping and the viscous air effect as an external immersion agent in equations are considered. The dynamical analysis of the n-axis robot at the surfaces with different longitudinal and lateral traction forces is another new topic discussed in this thesis. The motion of the system at the surface of Dry asphalt and Glare ice becomes a complex issue because due to the variation in the traction force at different levels, the robot's motion causes a slip in the longitudinal, lateral, or inward motion. This complexity has made it possible for all motor wheels to be fitted and the amount to be a backlash. Because this will make it possible to use a wheel on the wheels to get rid of the robot be stuck.
In the following, the equation of motion of an n-arm of the revolute–prismatic line is calculated in the recursive Euler-Lagrange method, and also the flexible link equations obtained on the n-axis robotic robot are solved, and the equation of motion is solved by the recursive Euler-Lagrange method. Finally, the obtained equations are simulated for a two-axis mobile robot with four-wheel drive for four different levels and a flexible link n-link revolute–prismatic equations.
