A two-wheeled machine with a handling mechanism in two different directions

Goher, Khaled (2016) A two-wheeled machine with a handling mechanism in two different directions. Robotics and Biomimetics, 3 (17). ISSN 2197-3768

Full content URL: http://doi.org/10.1186/s40638-016-0049-8

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A two-wheeled machine with a handling mechanism in two different directions
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Abstract

Despite the fact that there are various configurations of self-balanced two-wheeled machines (TWMs), the workspace of such systems is restricted by their current configurations and designs. In this work, the dynamic analysis of a novel configuration of TWMs is introduced that enables handling a payload attached to the intermediate body (IB) in two mutually perpendicular directions. This configuration will enlarge the workspace of the vehicle and increase its flexibility in material handling, objects assembly and similar industrial and service robot applications. The proposed configuration gains advantages of the design of serial arms while occupying a minimum space which is unique feature of TWMs. The proposed machine has five degrees of freedoms (DOFs) that can be useful for industrial applications such as pick and place, material handling and packaging. This machine will provide an advantage over other TWMs in terms of the wider workspace and the increased flexibility in service and industrial applications. Furthermore, the proposed design will add additional challenge of controlling the system to compensate for the change of the location of the COM due to performing tasks of handling in multiple directions.

Additional Information:This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Keywords:Lagrangian formulation, IP new configuration, Inverted pendulum, Two-wheeled vehicle, Payload handling, PID control
Subjects:H Engineering > H671 Robotics
H Engineering > H320 Mechanisms and Machines
H Engineering > H100 General Engineering
Divisions:College of Science > School of Engineering
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ID Code:33058
Deposited On:30 Aug 2018 12:57

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