Development of tipping-over rate computation system for hydraulic excavator having crane function

Lim, Tae Hyeong; Kim, Yong Seok; Ra, Jong Hwan; Lee, Hong Sun; Yang, Seungjoon

doi:10.1109/korus.2004.1555679

Cited by 6 publications

(1 citation statement)

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“…The tipping-over rate is generally determined in the form of the moment equilibrium equations in static rate. It is possible to define the tipping-over stability for the dynamic characteristics [37]. The quadruped robot developed in [38] can adjust the next foot position based on the ZMP location to maintain stability when it bumps into unpredictable terrain.…”

Section: Introductionmentioning

confidence: 99%

Stability Analysis of a Reconfigurable and Mobile Cable-Driven Parallel Robot

Tan,

Muntashir,

Nurahmi

et al. 2024

IEEE Access

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This paper presents a stability analysis based on the Zero Moment Point (ZMP) concept during the reconfiguration of a Cable-Driven Parallel Robot (CDPR) using three mobile bases. Each mobile base can be driven forward and backward, and it has a crane that can be moved up and down, to which a cable connected to the end effector is attached. The ZMP should stay within the designated support boundaries to prevent the robot from tumbling. Therefore, the next positions of the cable exit point are changed by applying two reconfiguration schemes to the robot: (I) changing the mobile base position and (II) altering the crane length. Kinetostatic models of both reconfiguration schemes are formulated such that the wrench matrix is expressed to compute the cable tensions. A fifth-degree polynomial test trajectory is defined to be followed by the end-effector. When executing a prescribed trajectory, the sequence of the mobile base position and the crane length are optimized by continuously considering the robot stability based on ZMP. Without reconfiguration, the mobile cranes cannot handle high cable tensions without tipping over. By performing two reconfiguration schemes, the whole system can be constantly maintained in equilibrium, and the robot's workspace can be enlarged; therefore, the tipping over can eventually be avoided. An experimental setup is built to demonstrate and validate the mathematical models of both reconfiguration scenarios.

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Section: Introductionmentioning

confidence: 99%