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Technical Brief

Tip-Over Stability Analysis for a Wheeled Mobile Manipulator

[+] Author and Article Information
Shuai Guo

Key Laboratory of Intelligent Manufacturing and Robotics,
School of Mechatronics Engineering
and Automation of Shanghai University,
HC204, No. 99, Road Shangda,
Shanghai 200444, China
e-mail: guoshuai@shu.edu.cn

Tao Song

Key Laboratory of Intelligent Manufacturing and Robotics,
School of Mechatronics Engineering
and Automation of Shanghai University,
HC204, No. 99, Road Shangda,
Shanghai 200444, China
e-mail: songtao43467226@shu.edu.cn

Fengfeng (Jeff) Xi

Department of Aerospace Engineering,
Ryerson University,
350 Victoria Street,
Toronto, ON M5B 2K3, Canada
e-mail: fengxi@ryerson.ca

Richard Phillip Mohamed

Department of Aerospace Engineering,
Ryerson University,
350 Victoria Street,
Toronto, ON M5B 2K3, Canada
e-mail: r3mohame@ryerson.ca

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 11, 2015; final manuscript received November 7, 2016; published online March 10, 2017. Assoc. Editor: Jingang Yi.

J. Dyn. Sys., Meas., Control 139(5), 054501 (Mar 10, 2017) (7 pages) Paper No: DS-15-1438; doi: 10.1115/1.4035234 History: Received September 11, 2015; Revised November 07, 2016

A method is presented for tip-over stability analysis of a wheeled mobile manipulator. A wheeled mobile manipulator may tip over resulting from its operation. In this study, first a Newton–Euler formulation is applied to formulate the manipulator’s reaction forces and moments exerted onto the mobile platform. Tip-over criterion is derived to judge the system stability. Three load and motion analyses are carried on. The first static load deals with links and payload to show the effect of the horizontal position of the system’s center of gravity (CG). The second and third are the inertial forces resulting from joint speeds and accelerations, respectively. Case study is path planning with tip-over criterion result which can make the system stable along the path. The simulation results demonstrate the effectiveness of the proposed method.

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Figures

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Fig. 1

The wheeled mobile manipulator for fuselage riveting

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Fig. 2

Forces and moments on a mobile platform

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Fig. 3

Four-wheel mobile platform

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Fig. 4

(a) TOM results over workspace for static case and (b) TOM results in terms of system CG

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Fig. 5

TOM over workspace for joint speed case: (a) joint speeds [175, 175, 175] deg/s and (b) joint speeds [175, 175, −175] deg/s

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Fig. 6

Centrifugal forces and gyroscopic moments derived from joint speed cases: (a) joint 1 rotation, (b) joint 2 rotation, (c) joint 3 rotation, and (d) all three joint rotations

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Fig. 7

TOM over workspace for joint acceleration case: (a) joint accelerations [200, 200, 200] deg/s2 and (b) joint accelerations [200, −200, −200] deg/s2

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Fig. 8

Forces and moments derived from joint acceleration: (a) joint 1 acceleration, (b) joint 2 acceleration, (c) joint 3 acceleration, and (d) all three joint accelerations

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Fig. 9

The points and path for aircraft riveting

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Fig. 10

TOM results for time segment fixed case

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Fig. 11

TOM results for alterable time segment case

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