Abstract
A mobile grinding robot is present here for the wind turbine blade grinding work. The robot is a mobile manipulator equipped with a grinding wheel. A mobile manipulator robot is built up with a mobile platform and a robotic arm mounted on it. The dynamic model of the robot is built, and the dynamic model of the two subsystems is derived from it, so the dynamic coupling items can be deduced. In order to discover how the coupling force influence the robotic manipulator, the SimMechanics model of the robot is built up and the simulation research is carried out by the built model. The results show the influence of coupling force on the manipulator.
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