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research-article

Slip Analysis for a Wheeled Mobile Manipulator

[+] Author and Article Information
Tao Song

Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics, Engineering and Automation of Shanghai University, HC204, No.99, Rd. Shangda, Shanghai, 200444, PRC
songtao43467226@shu.edu.cn

Fengfeng Xi

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

Shuai Guo

Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics, Engineering and Automation of Shanghai University, HC204, No.99, Rd. Shangda, Shanghai, 200444, PRC
guoshuai@shu.edu.cn

Xiao Wei Tu

School of Mechatronic Engineering and Automation Department of Shanghai University, No.149, Rd. Yanchang, Shanghai, 200072, PRC
tuxiaowei@shu.edu.cn

Xianhua Li

School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, 232001, PRC
xhli01@163.com

1Corresponding author.

ASME doi:10.1115/1.4037287 History: Received January 25, 2017; Revised June 22, 2017

Abstract

A method is presented for slip analysis of a wheeled mobile manipulator. The said system consists of an industrial manipulator mounted on a mobile platform performing aircraft manufacturing tasks. Unlike tracked/legged mobile robots that may slip when negotiating slopes or climbing stairs, a wheeled mobile manipulator may slip resulting from the manipulator movement or the forces from the end-effector during riveting. Slip analysis is crucial to ensure operation pose accuracy. In this study, first a universal friction constraint is used to derive the slip condition of the system. Three cases are considered, with the first case considering the reaction force in relation to the stand-off distance between the mobile manipulator and the work piece. The second case deals with the joint speeds to investigate the effect of coupling terms including centrifugal forces and gyroscopic moments on slip. The third case deals with the joint accelerations to investigate the effect of inertia forces and moments on slip. Simulations and experiments are carried out to verify the proposed method.

Copyright (c) 2017 by ASME
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