Abstract
This paper deals with the structural analysis of Mobile Manipulators (MMs). Most of the existing MMs were obtained by the association of a mobile platform with a standard six-DoF manipulator arm, thus leading to a redundant sub-optimal architecture. This kind of association does not take into account the structural parameters needed for the task or the specifications related to the environment. In this paper, a structural analysis is performed in order to caracterize the ability of a Mobile Manipulator (MM) to carry out a given task. A specific difficulty, covered by this work, is to represent the wheel-ground contact by an equivalent joint.
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Acknowledgements
This project acknowledges the financial support of the following entities: LabExIMobS3 Innovative Mobility: Smart and Sustainable Solutions, the French National Centre for Scientific Research (CNRS), Auvergne Regional Council and the European funds of regional development (FEDER).
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Chebab, Z.E., Fauroux, JC., Gogu, G., Sabourin, L., Bouton, N., Mezouar, Y. (2019). Structural Analysis of Mobile Manipulators. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_263
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DOI: https://doi.org/10.1007/978-3-030-20131-9_263
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