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Research Papers

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,
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

Shuai Guo

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

Xiaowei Tu

School of Mechatronic
Engineering and Automation,
Shanghai University,
No. 149, Road Yanchang,
Shanghai 200072, China
e-mail: tuxiaowei@shu.edu.cn

Xianhua Li

School of Mechanical Engineering,
Anhui University of Science and Technology,
Huainan 232001, China
e-mail: xhli01@163.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 25, 2017; final manuscript received June 22, 2017; published online September 20, 2017. Assoc. Editor: Heikki Handroos.

J. Dyn. Sys., Meas., Control 140(2), 021005 (Sep 20, 2017) (12 pages) Paper No: DS-17-1046; doi: 10.1115/1.4037287 History: Received January 25, 2017; Revised June 22, 2017

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 fastening. Slip analysis is crucial to ensure pose accuracy for operation. 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 workpiece. 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.

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Figures

Grahic Jump Location
Fig. 1

The wheeled mobile manipulator developed at Shanghai University

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Fig. 2

Wrench on mobile platform

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Fig. 3

The friction cone and pyramids

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Fig. 4

Manipulator kinematic modeling

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Fig. 5

Workspace of the manipulator under study: (a) sectional view and (b) isometric view

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Fig. 6

The stand-off distance in reaction force case

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Fig. 7

Flowchart of computing no slip range of stand-off distance

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Fig. 8

The simulation results with different d1: (a) d1=0.7m, (b) d1=0.9 m, (c) d1=1.2 m, and (d) d1=1.5 m

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Fig. 9

Flowchart for computing no slip range of joint speed or acceleration or combination

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Fig. 10

Slip condition for joint speed case

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Fig. 11

Forces and moments derived from joint acceleration

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Fig. 12

Slip condition for joint acceleration case

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Fig. 17

Slip displacement for path 1

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Fig. 18

Slip displacement for path 2

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Fig. 19

Slip displacement for path 3

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Fig. 20

The optimum riveting sequence

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