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How to ensure stable motion of suspended wheeled mobile robots

How to ensure stable motion of suspended wheeled mobile robots Purpose – A suspended wheeled mobile robot (SWMR) that consists of one or more manipulators can be exploited in various environmental conditions such as uneven surfaces. The purpose of this paper is to discuss the requirements for stable motion planning of such robotic systems to perform heavy object manipulation tasks. Design/methodology/approach – First, a systematic procedure for dynamics modelling of such complicated systems for planar motion is presented and verified using ADAMS simulation software. Next, based on the new dynamic moment‐height stability (MHS) measure, the stability of such systems will be investigated using the obtained dynamics. To this end, introducing the concept of a virtual frame, the obtained model of SWMR has been employed for investigating the effect of the base suspension characteristics as well as terrain roughness on the stability of the system. Next, the stability evaluation of the system is investigated after toppling down which has been rarely addressed in the literature. In addition, using the aforementioned model, the effect of stiffness is examined after instability. Findings – First, a systematic procedure for dynamics modelling of such complicated systems for planar motion is presented and verified using ADAMS simulation software. Next, based on the new dynamic MHS measure, the stability of such systems will be investigated using the obtained dynamics. To this end, introducing the concept of a virtual frame, the obtained model of SWMR has been employed for investigating the effect of the base suspension characteristics as well as terrain roughness on the stability of the system. Next, the stability evaluation of the system is investigated after toppling down which has been rarely addressed in the literature. In addition, using the aforementioned model, the effect of stiffness is examined after instability. Originality/value – A general procedure for dynamics modelling of SWMRs is presented. To verify the obtained dynamics model, another model for the considered system has been developed by ADAMS software. Next, using the obtained dynamics, the postural stability of such systems is investigated, based on the new postural MHS measure extended for SWMRs. The obtained simulation results show that by decreasing the stiffness coefficients of suspension subsystem the stability of the system weakens. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

How to ensure stable motion of suspended wheeled mobile robots

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Publisher
Emerald Publishing
Copyright
Copyright © 2011 Emerald Group Publishing Limited. All rights reserved.
ISSN
0143-991X
DOI
10.1108/01439911111106354
Publisher site
See Article on Publisher Site

Abstract

Purpose – A suspended wheeled mobile robot (SWMR) that consists of one or more manipulators can be exploited in various environmental conditions such as uneven surfaces. The purpose of this paper is to discuss the requirements for stable motion planning of such robotic systems to perform heavy object manipulation tasks. Design/methodology/approach – First, a systematic procedure for dynamics modelling of such complicated systems for planar motion is presented and verified using ADAMS simulation software. Next, based on the new dynamic moment‐height stability (MHS) measure, the stability of such systems will be investigated using the obtained dynamics. To this end, introducing the concept of a virtual frame, the obtained model of SWMR has been employed for investigating the effect of the base suspension characteristics as well as terrain roughness on the stability of the system. Next, the stability evaluation of the system is investigated after toppling down which has been rarely addressed in the literature. In addition, using the aforementioned model, the effect of stiffness is examined after instability. Findings – First, a systematic procedure for dynamics modelling of such complicated systems for planar motion is presented and verified using ADAMS simulation software. Next, based on the new dynamic MHS measure, the stability of such systems will be investigated using the obtained dynamics. To this end, introducing the concept of a virtual frame, the obtained model of SWMR has been employed for investigating the effect of the base suspension characteristics as well as terrain roughness on the stability of the system. Next, the stability evaluation of the system is investigated after toppling down which has been rarely addressed in the literature. In addition, using the aforementioned model, the effect of stiffness is examined after instability. Originality/value – A general procedure for dynamics modelling of SWMRs is presented. To verify the obtained dynamics model, another model for the considered system has been developed by ADAMS software. Next, using the obtained dynamics, the postural stability of such systems is investigated, based on the new postural MHS measure extended for SWMRs. The obtained simulation results show that by decreasing the stiffness coefficients of suspension subsystem the stability of the system weakens.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: Mar 8, 2011

Keywords: Robots; Dynamics; Modelling; Motion; Stability (control theory)

References

  • Dynamics modelling and tip‐over stability of suspended wheeled mobile robots with multiple arms
    Moosavian, S.A.A.; Alipour, K.; Bahramzadeh, Y.

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