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contributor authorSong, Tao
contributor authorXi, Fengfeng (Jeff)
contributor authorGuo, Shuai
contributor authorLin, Yu
date accessioned2017-11-25T07:18:11Z
date available2017-11-25T07:18:11Z
date copyright2016/09/06
date issued2016
identifier issn1942-4302
identifier otherjmr_008_06_061007.pdf
identifier urihttp://138.201.223.254:8080/yetl1/handle/yetl/4235022
description abstractA method for optimizing a mobile platform to form a wheeled manipulator is presented. For a given manipulator, this mobile platform is optimized to have maximum tip-over stability against the reaction forces and moments caused by the movement of the manipulator. This optimization is formulated as a max–min problem, i.e., to maximize a stable region ratio (SRR) over the manipulator's workspace while minimizing a tip-over moment (TOM). For a practical solution, this max–min problem is converted to two subproblems. The first one is the worst-case analysis to determine the maximum positive value of TOM through searching over the manipulator's workspace. A positive value of TOM indicates tip-over instability. The three parameters used for this search are pertaining to the mobile platform itself, i.e., the number of support wheels, the size, and mass of the mobile platform. The second subproblem is to optimize the placement of the manipulator and accessory on the mobile platform against the identified worst case so that the entire manipulator's workspace is stable. The effectiveness of the proposed method is demonstrated by applying it to optimize a mobile drilling and riveting robot.
publisherThe American Society of Mechanical Engineers (ASME)
titleOptimization of a Mobile Platform for a Wheeled Manipulator
typeJournal Paper
journal volume8
journal issue6
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4033855
journal fristpage61007
journal lastpage061007-14
treeJournal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 006
contenttypeFulltext


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