Volume 13, Issue 8 (2013)                   Modares Mechanical Engineering 2013, 13(8): 79-92 | Back to browse issues page

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Larimi S. Dynamic Balancing of an Under-Actuated Differential Two ‎Wheeled Manipulator by a Reaction Wheel. Modares Mechanical Engineering. 2013; 13 (8) :79-92
URL: http://mme.modares.ac.ir/article-15-12110-en.html
1- Msc. Mechanical Engineering on K.N.Toosi University
Abstract:   (4142 Views)
Abstract-In this article, a new stabilizing mechanism for a two wheel robot is proposed. Such systems, due to inherent ‎instability, require dynamic stabilization. The conventional method for stabilizing these robots is moving the base back ‎and forth, to use its inertia effects. Therefore, such strategies drastically depend on the ground surface, besides the ‎robot is not able to reconfigure its manipulator to do any desired task. These limitations reduce the capability of the ‎robot to manipulate objects, and to perform accurate tasks. In order to omit these restrictions, in the developed ‎mechanism, a reaction wheel is used. The proposed mechanism exploits the inertia moment of reaction wheel to ‎stabilize motion of the robot. Therefore, since there is no interaction between the reaction wheel and the ground surface, ‎by using this mechanism there would be no concern about the surface that the robot moves on that. Also, manipulator ‎of the robot can track the given trajectories, without considering stability limitations. In order to show the performance ‎of proposed mechanism, a verified dynamics model of the robot is used and the control algorithm with various initial ‎conditions is simulated.‎
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Article Type: Research Article | Subject: Dynamics, Cinematics & Mechanisms|robatic|Control|Mechatronics
Received: 2012/12/25 | Accepted: 2013/04/24 | Published: 2013/08/23

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