Title :
The mobile robot “staff”: mechanical analysis and design
Author :
Agulló, J. ; de Haro, S. ; Roure, F.
Author_Institution :
Dept. of Mech. Eng., Univ. Politecnica de Catalunya, Barcelona, Spain
Abstract :
The development of a fully mobile omnidirectional vehicle intended for flexible manufacturing plants (mechanical, pipeless chemical plants and others) and loads up to 1200 kg is presented. Four identical steering/tractive units with conventional wheels are used. An accurate dynamical formulation has been developed in order to improve the dead reckoning accuracy. It takes into account the dependence of the rolling and pivoting resistance torques upon the normal reactive forces, and includes a formulation of the motion perturbations due to wheel deformation. A finite element model of the structure has been used for static analysis, dynamic loading and vibration analysis
Keywords :
finite element analysis; flexible manufacturing systems; industrial robots; mobile robots; motion control; robot dynamics; robot kinematics; torque control; vehicles; conventional wheels; dead reckoning accuracy; dynamic loading; dynamical formulation; finite element model; flexible manufacturing plants; fully mobile omnidirectional vehicle; mechanical analysis; mechanical pipeless chemical plants; mobile robot staff; motion perturbations; normal reactive forces; pivoting resistance torques; static analysis; steering/tractive units; vibration analysis; wheel deformation; Angular velocity control; Chemical analysis; Dead reckoning; Equations; Flexible manufacturing systems; Inverse problems; Kinematics; Mobile robots; Vehicles; Wheels;
Conference_Titel :
Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on
Conference_Location :
Barcelona
Print_ISBN :
0-7803-5670-5
DOI :
10.1109/ETFA.1999.813163
