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Journal article
Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
Journal of mechanisms and robotics, Vol.14(4), pp.041005-1-041005-11
11/2021
Web of Science ID: WOS:000818074900007
Abstract
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics.
Special Issue: Selected Papers from IDETC-CIE 2021
Mobile robots with manipulation capability are a key technology that enables flexible robotic interactions, large area covering and remote exploration. This paper presents a novel class of actuation-coordinated mobile parallel robots (ACMPRs) that utilize parallel mechanism configurations and perform hybrid moving and manipulation functions through coordinated wheel actuators. The ACMPRs differ with existing mobile manipulators by their unique combination of the mobile wheel actuators and the parallel mechanism topology through prismatic joint connections. Common motion of the wheels will provide mobile function while their relative motion will actuate the parallel manipulation function. This new concept reduces actuation requirement and increases manipulation accuracy and mobile motion stability through coordinated and connected wheel actuators comparing with existing mobile parallel manipulators. The relative wheel location on the base frame also enables a reconfigurable base size with variable moving stability on the ground. The basic concept and general type synthesis are introduced and followed by kinematics and inverse dynamics analysis of a selected three limb ACMPR. A numerical simulation also illustrates the dynamics model and the motion property of the new mobile parallel robot (MPR) followed by a prototype-based experimental validation. The work provides a basis for introducing this new class of robots for potential applications in surveillance, industrial automation, construction, transportation, human assistance, medical applications, and other operations in extreme environment such as nuclear plants, Mars, etc.
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Details
- Title
- Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
- Publication Details
- Journal of mechanisms and robotics, Vol.14(4), pp.041005-1-041005-11
- Resource Type
- Journal article
- Publisher
- American Society of Mechanical Engineers (ASME)
- Number of pages
- 11
- Grant note
- Purdue Polytechnic RDE seed grant project FRR-2131711 / National Science Foundation (NSF); National Research Foundation of Korea
- Copyright
- © 2022 by ASME
- Identifiers
- WOS:000818074900007; 99380579481706600
- Academic Unit
- Mechanical Engineering; Hal Marcus College of Science and Engineering
- Language
- English