Resumen

KORAYEM, M. H.; HAGHPANAHI, M.  y  HEIDARI, H. R.. Analysis of flexible mobile manipulators undergoing large deformation with stability consideration. Lat. Am. appl. res. [online]. 2012, vol.42, n.2, pp.111-119. ISSN 0327-0793.

Mobile manipulators operating in field environments will be required to manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to reach dangerous tipover instability. Therefore, this paper presents a method for finding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear flexible link mobile manipulators with stability consideration. Moment-Height Stability (MHS) criterion is used as an index for the system stability. The dynamic model for links in most mechanisms has often based on small deflection theory but for applications like light-weight links, high-precision or high speed, it is necessary to capture the deflection caused by nonlinear terms. Hence, the equations of motion are derived taking into account the nonlinear strain-displacement relationship. Then, a method for determination of the maximum allowable loads is described. In order to verify the effectiveness of the presented algorithm, several simulation studies and experiments are carried out and the results are discussed.

Palabras clave : Flexible Link; Nonholonomic Mobile Manipulator; Large Deflection; Stability Constraint.