The robust design of a novel mobile robot, which comprises two driving wheels and an intermediate body carrying the payload, is the subject of this paper. We prove that, by virtue of the robot architecture, the kinetostatic model of the system is isotropic. Moreover, regarding the robot dynamic response, a robust design problem is formulated by minimizing the design bandwidth of the generalized inertia matrix of the robot over its architecture parameters. Furthermore, design conditions are given for the robot performance in trajectory-tracking to be feasible. Finally, a numerical comparison of two design solutions, one feasible and one robust, is provided by means of simulation runs. We demonstrate that the robust design solution doubles robot performance in trajectory-tracking, while reducing the oscillations of the intermediate body, by 40%, when compared with the feasible solution.
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ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 2–6, 2003
Chicago, Illinois, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-3700-9
PROCEEDINGS PAPER
The Robust Design of a Two-Wheeled Quasiholonomic Mobile Robot
Alessio Salerno,
Alessio Salerno
McGill University, Montreal, Quebec, Canada
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Jorge Angeles
Jorge Angeles
McGill University, Montreal, Quebec, Canada
Search for other works by this author on:
Alessio Salerno
McGill University, Montreal, Quebec, Canada
Jorge Angeles
McGill University, Montreal, Quebec, Canada
Paper No:
DETC2003/DAC-48845, pp. 1323-1329; 7 pages
Published Online:
June 23, 2008
Citation
Salerno, A, & Angeles, J. "The Robust Design of a Two-Wheeled Quasiholonomic Mobile Robot." Proceedings of the ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 29th Design Automation Conference, Parts A and B. Chicago, Illinois, USA. September 2–6, 2003. pp. 1323-1329. ASME. https://doi.org/10.1115/DETC2003/DAC-48845
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