Abstract
Purpose - The purpose of this paper is to analyze the stability behavior of the omnidirectional mobile robot with active dual-wheel caster (ADWC) assemblies and provide a stable trajectory without any tip-over incident. The omnidirectional mobile robot to be developed is for transporting cuboid-shaped objects. Design/methodology/approach - The omnidirectional transport mobile robot is designed using an ADWC assemblies structure, the tip-over occurrence is estimated based on the support forces of an active footprint, the tip-over direction is predicted, the tip-over stability is enhanced to prevent the tip-over occurrence and a fast traveling motion is provided. Findings - The omnidirectional mobile robot tends to tip-over more on the sides with small ranges of tip-over angle. The proposed method for estimating the tip-over occurrence and enhancing the stability using the gyroscopic torque device was feasible as the tip-over prevention system of the omnidirectional mobile robot with ADWC assemblies. Originality/value - The research addresses the study of the tip-over stability for the omnidirectional mobile robot that possesses an active footprint. It also addresses the prediction of the tip-over occurrence using the derived dynamical model together with force-angle stability measure and the tip-over stability enhancement method using a single-gimbal control moment gyro device.
Original language | English |
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Pages (from-to) | 91-106 |
Number of pages | 16 |
Journal | International Journal of Intelligent Unmanned Systems |
Volume | 2 |
Issue number | 2 |
DOIs | |
Publication status | Published - May 6 2014 |
Keywords
- Active dual-wheel caster
- Omnidirectional mobile robot
- Stability
- Tip-over
ASJC Scopus subject areas
- Modelling and Simulation
- Automotive Engineering
- Economics and Econometrics
- Mechanical Engineering