A Study on Slippage and Tip-over Stability for an Omnidirectional Mobile Robot with Longitudinal MY-wheels

Yu, Suyang; Ye, Changlong; Jiang, Chunying; Li, Han

doi:10.1109/icma.2019.8816494

Cited by 6 publications

(2 citation statements)

References 11 publications

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“…Chao Ren realized its trajectory tracking control based on proportional integral control method (Ren and Ma, 2015). Suyang Yu improved its slip stability and overturning stability by optimal control method, but because of the structural characteristics of the MY wheel, the robot still has a problem of slip (Yu et al , 2019). The sliding characteristics between wheels and ground can be analyzed from the point of view of mechanics.…”

Section: Introductionmentioning

confidence: 99%

Motion optimization of an omnidirectional mobile robot with MY wheel based on contact mechanics

Sun

et al. 2022

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Purpose The mechanical properties between wheel and ground will affect the motion performance of wheeled omnidirectional mobile robot (OMR). MY3 wheel is an omnidirectional wheel. This paper aims to analyze the contact mechanical characteristics between MY3 wheel and ground to improve the motion accuracy of an omnidirectional mobile platform with MY3 wheel (MY3-OMR). Design/methodology/approach This method takes MY3 wheel as the research objective. The normal and tangential contact mechanics model and rolling contact mechanics model of MY3 wheel are established by analyzing the structure of MY3 wheel, and thereby, the slip ratio of MY3 wheel in the process of motion is calculated. The kinematics model of MY3-OMR is optimized by taking the slip ratio as the optimization parameter that aims to improve motion accuracy of MY3-OMR. Findings The correctness of the mechanical analysis and the feasibility of the method are verified by the MY3-OMR prototype. Let MY3-OMR move along the set circular trajectory and square trajectory, and the error between the motion trajectory before and after optimization and the standard trajectory is obtained. It illustrates that the error in the square trajectory is reduced by 1.5%, and the circular trajectory error is reduced by 2%; therefore, the method is effective. Originality/value A method based on contact mechanics is proposed and verified. Through the establishment of wheel-ground contact mechanics model to optimize MY3-OMR kinematics model, and thereby, the motion accuracy of MY3-OMR is improved, which lays a foundation for MY3-OMR engineering application.

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Section: Introductionmentioning

confidence: 99%

Motion optimization of an omnidirectional mobile robot with MY wheel based on contact mechanics

Sun

et al. 2022

Self Cite

View full text Add to dashboard Cite

show abstract

“…In the same year, Akihiro Suzumura et al [31] , [32] introduced Zero Moment Point (ZMP) as a stability index improve the mobility of wheel-leg mobile robots, and studied the generation of whole body motion and various control systems. In 2019, Yu Suyang [33] et al proposed a method to solve the ground reaction force using the motion state of the OMR, and used the calculated reaction force and force angular stability measurement (FASM) to determine the slip and tipping stability of the OMR did an evaluation. In the same year, Jiang Hui et al [34] analyzed a passive-active transformation mobile robot, based on the evaluation method of the stability pyramid theory, and obtained an analytical expression for the relationship between the active suspension input and the cross-slope stability evaluation index.…”

Section: Introductionmentioning

confidence: 99%