چکیده مقاله
In this study, kinematics and dynamics of a compounded serial parallel wheeled mobile robot is elaborated The newly proposed combination 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 The suggested structure adopts the advantages of both serial and parallel robots In order to investigate the comprehensive kinematics model of the robot; first it is divided into three modules, that is to say mobile platform, parallel ST mechanism and serial robot Next, a closed form dynamics model is offered for the whole hybrid system based on a combined Newton Euler and Lagrange formalism In addition, the suggested valuable method presents the mutual dynamic interaction wrenches between the integrated platform and the serial manipulator which can be exploited for the tip over stability analysis of the mobile robotic system
کلیدواژهها
نویسندگان
S. Ali Akbar Moosavian
Associate Professor Advanced Robotics & Automated Systems ARAS Laboratory Department of Mechanical Engineering, K N Toosi Univ of Technology
Alireza Pourreza
MS Student Advanced Robotics & Automated Systems ARAS Laboratory Department of Mechanical Engineering, K N Toosi Univ of Technology
شیوه ارجاع
Moosavian, S. Ali Akbar and Pourreza, Alireza,1387,Mathematical Modeling of a Compounded Serial-Parallel Mobile Robot,9th Iranian Conference on Manufacturing Engineering,Birjand
ارائهشده در
مجموعه مقالات نهمین کنفرانس مهندسی ساخت و تولید13 اسفند 1387 · بیرجند