Tip-Over Stability of Suspended Wheeled Mobile Robots

A suspended wheeled mobile robot (SWMR) that consists of one or more manipulators mounted on a mobile suspended base is expected to pass through various environmental conditions such as uneven surfaces. In this study, first a general systematic procedure for dynamics modeling of such complicated systems is presented based on iterative Newton-Euler´s formulation. The presented approach can provide the interaction wrench(es) between the mobile base and the mounted arm(s) in an explicit form as will be derived. Next, using the obtained dynamics, the tip-over stability of such systems will be investigated. To this end, the new dynamic tip-over Moment-Height Stability (MHS) measure will be extended for suspended wheeled mobile robotic systems. Proposing the concept of virtual structure, the obtained planar model of SWMR has been employed for investigating the effect of the base compliance on the stability of the system. The obtained results reveal the effects of existing compliance module on the mechanical stability of the total system.