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1、MotionAnalysisofaParallelMobileRobot12ShragaShovalandMosheShoham1DepartmentofIndustrialEngineering&Management,AcademicCollegeofJudeaandSamaria,Ariel,Israelshraga@yosh.ac.il2FacultyofMechanicalEngineering,Technion,Haifa,Israel,shoham@tx.technion.ac.ilAbstract.Thispaperpresents
2、akinematicandforceanalysisofamobilerobotbuiltontheprincipleofparallelmechanisms.Therobotconsistsofanupperplateconnectedto3legs,eachequippedwithanasynchronousdrivingunit.Akinematicmodelfortherobotprovidesdataforaccuratepositionestimate,eveninroughandslipperyterrainswhereconven
3、tionalodometryfails.Thepaperpresentsananalysisoftheforcesactingontherobotundervarioussurfaceconditionsandrobotconfigurations.Thisanalysisprovidesusefuldatatodeterminewhetheraspecificmotioncanbecompletedgiventhelimitationsonstability,thegeometryandfrictionofthesurface,andthere
4、quiredmotiondirection.Thepaperpresentssimulationresultsthatareverifiedbyexperimentsusingourprototypemodel.1IntroductionParallelmechanismsconsistofanupperplatformthatismaneuveredbyseveral(3-6)legsconnectedtoalowerstationaryplatform.Themaneuverability,rigidityandaccuracyarefunc
5、tionsofthenumberoflegsandthetypeofjointsbetweentheplatesandthelegs.ThebasicconceptualmechanicsisknownastheStewartplatform[Stewart,1965]eventhoughearlierversionsareknown,andsincethenmanymanipulatorsweredevelopedbasedonthismechanism[Hunt1983,TsaiandTahmasebi1983andothers].BenHo
6、rinandShoham[1997]havesuggestedusingmobilejointsbetweenthelegsandthestationaryplatform,turningthemechanismintoasemi-mobilerobot.Themechanismconsistsofthefollowingcomponents:threelinksoffixedlength,havingasphericaljointononeendandarevolutejointontheotherend,threeactuatorswhich
7、moveplenaryonastationaryplatformandanoutputplatformhavingsixdegrees-of-freedom(DOF).Tofurtherincreasemobility,BenHorinandShoham[1999,2000]suggestamoreflexibledesign.Thismechanism,showninFig.1,isbasedon3inflatablelegs,anupperplatformand3asynchronousdrivingunitsforthethreelegs.
8、Theupperjointofeachlegisarevolutejoint,whilethelowerjoint,whichconne
