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SIIA Público
SISTEMA INTEGRAL DE INFORMACIÓN ACADÉMICA - PÚBLICO
Título del libro: Proceedings - 2020 International Conference On Mechatronics, Electronics And Automotive Engineering, Icmeae 2020 Título del capítulo: Tip-Over Stability Estimation of a Mobile Manipulator using the Mean Normal Ground Reaction criterion
tip-over estimation; extensometry; virtual instrument; mobile manipulator
Resumen:
The loss of tip-over stability is an effect that mobile manipulators can
present due to the presence of certain factors, such as the conditions
of the robot's work area, the workload to be supported or a combination
of both, which can result in material losses and in certain cases, human
losses. Various authors have developed different algorithms that allow
to quantify this phenomenon and have generated validations of its
response to such effects. In order to provide a way of approaching
within this field, this work presents the study of a prototype mobile
manipulator made up of an instrumented base and a 3 DoF serial arm that
was subjected to various tests using a virtual instrument that
quantifies the stability measurement using an algorithm based on the
average normal reactions. Case studies are presented in which the robot
is subjected to different loads applied to its end effector, as well as
variations to the position of the serial arm and inclination of the
manipulator's contact surface. The results obtained allow us to identify
under what conditions the robot may lip over, so it is possible to
generate a validation of the displayed criteria.
Entidades citadas de la UNAM:
Fuente:
ISBN: 9781728199047 Editorial: Institute of Electrical and Electronics Engineers Inc.
