Dynamics and stability of a hybrid serial-parallel mobile robot

S. Ali A. Moosavian, Alireza Pourreza and Khalil Alipour

Mathematical and Computer Modelling of Dynamical Systems, 2010, vol. 16, issue 1, 35-56

Abstract: Kinematics, dynamics, and stability analysis of a hybrid serial-parallel wheeled mobile robot is detailed in this paper. Privileging the advantages of both serial and parallel robots, the suggested structure will provide higher stability for heavy object manipulation by a mobile robotic system. The proposed system is made of a differentially-driven wheeled platform, a planar parallel manipulator, which is called here as star-triangle (ST) mechanism, and a serial Puma-type manipulator arm. In order to develop a comprehensive kinematics model of the robot; first it is divided into three modules, i.e. a mobile platform, a parallel ST mechanism, and a serial robot. Next, a closed-form dynamics model is derived for the whole hybrid system based on a combined Newton--Euler and Lagrange formulation. Then, a careful validation procedure is presented to verify the obtained dynamics model. Finally, using the new postural stability metric named as moment-height stability (MHS), the important role of the parallel ST mechanism for stabilizing the mobile robotic system is demonstrated. The obtained results show that the proposed hybrid serial--parallel arrangement effectively enhances the tip-over stability of the overall mobile robotic system. Hence, it can be successfully exploited to prevent tip-over instability particularly during heavy object manipulation tasks.

Date: 2010
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Citations: View citations in EconPapers (1)

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DOI: 10.1080/13873951003676518

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