Dynamic Model and Analysis of the Flexible Two-Wheeled Mobile Robot

Aiming to the flexible structure feature of waist, the flexible two-wheeled mobile robot was designed based on dynamics of flexible multi-body system. Adopting the assumed mode method, the robot can be abstracted to a three-link robot system, and the flexible robot dynamics model is established using D' the Alembert-Lagrange, then the dynamics equation of this systems is obtained using the oblique angles of three poles and the turn corners of two wheels as the parameters, and the vibration equation of connecting rod with flexible waist is also gained. Listing some material steps at establishing the mathematics model, and from this some simulation analysis was carried out. The simulation results confirm that the model is efficient, and it has provided the theory basis for the movement and control research of the flexible robot system.