Modeling and simulation of folding-boom aerial platform vehicle based on the flexible multi-body dynamics

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Modeling and simulation of folding-boom aerial platform vehicle based on the flexible multi-body dynamics
	Hu, Haidong; Li, En; Zhao, Xiaoguang; Liang, Zize; Yu, Wensheng
	2010
会议名称	2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
会议日期	2010
会议地点	Tianjin
关键词	Mathematical model,
页码	798-802
通讯作者	Haidong Hu ; En Li ; Xiaoguang Zhao ; Zize Liang ; Wensheng Yu
英文摘要	Folding-boom aerial platform vehicle is a type of construction vehicle used to hoist personnel to the appointed location in the aerial. As for aerial platform vehicle, the flexible deformations of the arm system cannot be neglected. Therefore, the flexible multi-body dynamics equations of the arm system of folding-boom aerial platform vehicle are established based on flexible multi-body dynamics theory and Lagrange's equation. Following, the simulation is carried out. The simulation results show that the moving beams exist high frequency vibrations, which caused by the elastic deformations of them. As a result, the vibrations cause the work platform of aerial platform vehicle to shake, and at the same time, the deflections of the beams lead to small deviations of the trajectory of the work platform. Therefore, the establishment of the equations lays the basis of vibration controlling and accurately controlling the trajectory of the work platform of aerial platform vehicle.
收录类别	EI
会议录	International Conference on Intelligent Control and Information Processing (ICICIP)
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/4881]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
推荐引用方式 GB/T 7714	Hu, Haidong,Li, En,Zhao, Xiaoguang,et al. Modeling and simulation of folding-boom aerial platform vehicle based on the flexible multi-body dynamics[C]. 见:2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010. Tianjin. 2010.