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Dynamic Stability Analysis of a Novel Forging Manipulator

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5315))

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Abstract

The dynamic stability problem of heavy-duty mobile forging manipulators is of great importance for both designing purpose and working task planning. In this paper, a new stability measure named as Force-Moment Ratio Stability is presented. This measure regards the complex multi-rigid body system of the mobile manipulator as a whole and incorporates all static and dynamic factors into consideration. The process of formulation together with the dynamic model of a novel forging manipulator shows this measure is physically meaningful and applicable to dynamic mobile systems subject to inertial, external forces and moments under any kind of motion trajectories. The performance and effectiveness of the measure is demonstrated through a practical implement in the designing of a heavy-duty mobile manipulator used in integrated heavy forging center.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China

    Changya Yan & Feng Gao

Authors
  1. Changya Yan
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  2. Feng Gao
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong

  2. The Institute of Industrial Research, University of Portsmouth, UK

    Honghai Liu

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Yongan Huang  & Youlun Xiong  & 

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© 2008 Springer-Verlag Berlin Heidelberg

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Yan, C., Gao, F. (2008). Dynamic Stability Analysis of a Novel Forging Manipulator. In: Xiong, C., Liu, H., Huang, Y., Xiong, Y. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88518-4_48

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  • DOI: https://doi.org/10.1007/978-3-540-88518-4_48

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88516-0

  • Online ISBN: 978-3-540-88518-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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