NDLI: Optimization-based design of a novel hybrid aerial/ground mobile manipulator

Content Provider	IEEE Xplore Digital Library
Author	Findlay, D. Jafarinasab, M. Sirouspour, S.
Copyright Year	2015
Description	Author affiliation: Fac. of Electr. & Comput. Eng., McMaster Univ., Hamilton, ON, Canada (Findlay, D.; Jafarinasab, M.; Sirouspour, S.)
Abstract	This paper is concerned with the mechanical design of a mobile manipulating unmanned ground vehicle (MM-UGV) coupled with an existing commercial unmanned aerial vehicle (UAV) to create a novel hybrid aerial/ground mobile manipulator. A novel systematic optimization-based approach is presented for making important design choices, such as the selection of gearboxes and electric DC motors in the drive-train, manipulator link lengths, and UGV base length. The objective is to minimize the overall mass of the MM-UGV. Constraints related to workspace, dynamic tip-over stability, actuator torque/force limits in static and dynamic motions, executed in the air or on the ground, and battery properties are incorporated into the problem formulation. The system operating conditions in the form of the range of end-effector forces, operating surface grade, and various position, velocity and acceleration variables are provided by the designer. The resulting problem is a robust bilevel nonlinear optimization, in which some of the constraints are derived from maximization/minimization over the operational variables to ensure constraint satisfaction in all possible operation scenarios. The problem is solved using a genetic algorithm. Numerical simulations demonstrate that the proposed strategy produces a design that meets the user-specified requirements.
Starting Page	2467
Ending Page	2472
File Size	842904
Page Count	6
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7353712
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Dynamics Vehicle dynamics Propellers Optimization
Content Type	Text
Resource Type	Article

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