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Configuration selection for tip-over stability of a modular reconfigurable mobile manipulator under various application situations

Published online by Cambridge University Press:  14 October 2022

Tao Song Open the ORCID record for Tao Song [Opens in a new window] ,
Hao Yang ,
Shuai Guo ,
Guohua Cui  and
Zhe Yan
Tao Song*
Affiliation:
Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics, Engineering and Automation, Shanghai University, Shanghai, China
Hao Yang
Affiliation:
Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics, Engineering and Automation, Shanghai University, Shanghai, China
Shuai Guo
Affiliation:
Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics, Engineering and Automation, Shanghai University, Shanghai, China National Demonstration Center for Experimental Engineering Training Education, Shanghai University, Shanghai, China
Guohua Cui
Affiliation:
School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components, Shanghai, China
Zhe Yan
Affiliation:
Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronics, Engineering and Automation, Shanghai University, Shanghai, China
*
*Corresponding author. E-mail: songtao43467226@shu.edu.cn
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Abstract

A method is presented for configuration selection to obtain the best tip-over stability of a modular reconfigurable mobile manipulator (MRMM) under various application situations. The said MRMM consists of a modular reconfigurable robot (MRR) mounted on a mobile platform. The MRR in different configurations creates different wrenches onto the mobile platform, leading to different tip-over moments of the MRMM, even though the joint speeds or tip speeds remain the same. The underlying problem pertains to selecting one configuration of MRR for reconfiguration that would obtain the best tip-over stability under a given application. First, all the permissible configurations are identified through an enumeration method. Then, the feasible configurations are determined based on application-oriented workspace classifications. At last, two workspace indices, vertical reach and horizontal reach, are used to select an optimal configuration. The tip-over stability analysis and evaluation of MRMM are carried out for verification for three cases including vertical, horizontal, and general 3D space applications. The results demonstrate the effectiveness of the proposed method.

Keywords

tip-over stabilitymodular reconfigurable mobile manipulatorconfiguration selection
Type
Research Article
Information
Robotica , Volume 41 , Issue 3 , March 2023 , pp. 1066 - 1085
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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