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Stability analysis of wheeled mobile multi-robot coordinated towing system

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Abstract

In the towing process of the wheeled mobile multi-robot coordinated towing system, the overturning of the mobile robot itself will lead to a series of problems such as system damage, operation failure and casualties. In order to adapt to the complex operating environment and complete the towing work safely and effectively, higher requirements are put forward for the carrying capacity, mobile performance and stability of the wheeled mobile multi-robot coordinated towing system. Firstly, the spatial configuration of the wheeled multi-robot coordinated towing system is established and the kinematics of the manipulator and towing system are analyzed. The dynamic equations of the manipulator and towing system are established using the Lagrangian method and the Newton-Euler method. Then, the inverse kinematics of the robot is used to solve the joint angles, and the force-angle stability measure is used to analyze the law of overturning stability of the system under three cases of static, static stress and dynamic stress, respectively. Finally, the standard stability angles corresponding to the two sets of joint angles of the robot are compared with the simulation based on the program written in Matlab. The results show that the first set of joint angles has better stability, and some standard stability angles of the system are less than 0 during the motion, the towing system will overturn. Therefore, the first set of joint angles of the manipulator has better stability and should be selected to perform towing tasks. The joint angles of the manipulator should be adjusted to avoid overturning in practice.

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Acknowledgments

The study was funded by National Natural Science Foundation of China (Grant No. 51965032).

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Authors and Affiliations

  1. School of Mechanical Engineering, Lanzhou JiaoTong University, Lanzhou, 730070, China

    Xiangtang Zhao, Zhigang Zhao, Shaohui Zhang & Cheng Su

Authors
  1. Xiangtang Zhao
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  2. Zhigang Zhao
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  3. Shaohui Zhang
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  4. Cheng Su
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Corresponding author

Correspondence to Xiangtang Zhao.

Additional information

Xiangtang Zhao is now finishing his Master degree in Lanzhou Jiaotong University, Lanzhou, China. His current research interest is cable-driven parallel robot.

Zhigang Zhao is a Professor of School of Mechatronic Engineering, Lanzhou JiaoTong University, Lanzhou, China. His current research interest is special robot.

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Zhao, X., Zhao, Z., Zhang, S. et al. Stability analysis of wheeled mobile multi-robot coordinated towing system. J Mech Sci Technol 36, 407–416 (2022). https://doi.org/10.1007/s12206-021-1239-z

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  • DOI: https://doi.org/10.1007/s12206-021-1239-z

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