NDLI: Dynamics modeling and tipover stability of a hybrid serial-parallel mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Moosavian, S.A.A. Hoseyni, S.S.
Copyright Year	2011
Description	Author affiliation: Dept. of Mechaniacl Eng., K.N. Toosi Univ. of Technol., Tehran, Iran (Moosavian, S.A.A.; Hoseyni, S.S.)
Abstract	In this study, dynamics and stability of a novel hybrid serial-parallel mobile robot is elaborated. This robot compounds of a differentially-driven wheeled platform, a novel spatial parallel mechanism, and a serial manipulator arm. Using a moving parallel mechanism as the base of a serial manipulator makes the system capable to carry heavy payloads, and prevents tipping over of the system. In those cases that robot must perform tasks on uneven terrains with unknown obstacles and disturbances; this system is able to change its configuration to move safely. Spatial parallel mechanism has three degree-of-freedom (DOF) and uses three planar prismatic actuators along linear axes. So, the end-effector of parallel mechanism has a fixed orientation and only has translation motion relative to mobile base. In this paper, dynamic, and kinematics redundancy of this robot is investigated. Tipover stability of the robot will be investigated using the newly proposed Moment Height Stability (MHS) measure. This robot is able to compensate tipover instability and thus can carry more heavy objects. Effectiveness of the parallel mechanism in compensating tipover instability is illustrated in two maneuvers.
Sponsorship	IEEE
Starting Page	1024
Ending Page	1029
File Size	346711
Page Count	6
File Format	PDF
ISBN	9781467316897
e-ISBN	9781467316903
DOI	10.1109/ICCIAutom.2011.6356805
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-27
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability criteria Kinematics Manipulators Mobile communication Mobile robots
Content Type	Text
Resource Type	Article

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