The energy stability margin for tracked vehicle mounted manipulator

The stability margin for Tracked Vehicle that are sufficient conditions for safe. The stability margin bases on energy stability level at each edge of support boundary. Similarly, this concept takes into consideration the instantaneous change of machine´s center of gravity position while the manipulator swings with a constant velocity. Moreover, inertial and manipulation effects usually appear in the motion of such vehicles when that are used for services or industrial applications. The stability margin mentions the minimum of dynamic energy level changing follow boundary edge during motion is proposed without turning over. In this paper, the stability of vehicle is investigated as the reflection of the interact energy. If this energy level is over the margin, it will make projection of center of gravity to be out of the support boundary, the machine will be turned over. This paper presents a type of survey to analysis the safe margin of this machine in various situations.