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International Journal of Engineering، جلد ۱۷، شماره ۲، صفحات ۱۹۳-۲۰۴
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| عنوان فارسی |
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| چکیده فارسی مقاله |
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| کلیدواژه‌های فارسی مقاله |
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| عنوان انگلیسی |
Optimal Load of Flexible Joint Mobile Robots Stability Approach |
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| چکیده انگلیسی مقاله |
Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are taken into account. The main constraints applied for the presented algorithm are torque capacity of actuators, limited error bound for the end-effector and overturning stability during the motion on the given trajectory. In order to verify the effectiveness of the presented algorithm, a simulation study considering a compliant joint two-link planar manipulator mounted on a differentially driven mobile base is explained in details. |
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| کلیدواژه‌های انگلیسی مقاله |
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| نویسندگان مقاله |
H. Ghariblu |
, Iran University of Science & Technology
M. H. Korayem |
Mechanical Engineering, Iran University of Science & Technology
A. Basu |
Mechanical Engineering, University of Wollongong
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| نشانی اینترنتی |
http://www.ije.ir/article_71518_47ea89de36cd2f9c77ea7e194f6470f8.pdf |
| فایل مقاله |
اشکال در دسترسی به فایل - ./files/site1/rds_journals/409/article-409-2417250.pdf |
| کد مقاله (doi) |
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| زبان مقاله منتشر شده |
en |
| موضوعات مقاله منتشر شده |
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