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<p>The possibility of a robot failing to perform its task can be influenced by factors related to its movement and the load it carries. This concern is particularly important in mobile robots where these factors are more noticeable. Many researchers have conducted studies to quantify the loss of stability in different types of robots. However, these studies often require expensive and complex equipment for replication. Therefore, this research proposes an alternative approach to estimate tip-over stability in a simulated environment made in MATLAB/Simulink. The methodology involves using a 3-degree-of-freedom serial manipulator placed on an angular positioning table which are imported from CAD files respectively. The stability measure is determined by applying a criterion based on the average normal reactions at the base of the manipulator. Case studies are conducted to simulate operating conditions of both systems in order to assess the potential for tipping over based on the trajectory between two desired points. Estimation of tip-over is demonstrated by the values obtained by the reaction of the stability values of each edge of the system and the normalized stability for each case. Limitation of the process is discussed.</p>

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Tip-over stability estimation and simulation of a manipulator using the mean normal ground reaction criterion

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2025年2月14日

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  • Juan C. García-Hernández,
  • Victor J. Gonzalez-Villela,
  • Jose A. Souza-Jimenez,
  • Jesús A. Meda-Campaña

摘要

The possibility of a robot failing to perform its task can be influenced by factors related to its movement and the load it carries. This concern is particularly important in mobile robots where these factors are more noticeable. Many researchers have conducted studies to quantify the loss of stability in different types of robots. However, these studies often require expensive and complex equipment for replication. Therefore, this research proposes an alternative approach to estimate tip-over stability in a simulated environment made in MATLAB/Simulink. The methodology involves using a 3-degree-of-freedom serial manipulator placed on an angular positioning table which are imported from CAD files respectively. The stability measure is determined by applying a criterion based on the average normal reactions at the base of the manipulator. Case studies are conducted to simulate operating conditions of both systems in order to assess the potential for tipping over based on the trajectory between two desired points. Estimation of tip-over is demonstrated by the values obtained by the reaction of the stability values of each edge of the system and the normalized stability for each case. Limitation of the process is discussed.