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.
Highlights
Two-wheeled robots are based on the idea of the inverted pendulum (IP) system
Investigating the parametric and functional uncertainties has been considered in the literature; Li et al [20,21,22] considered the dynamic balance and motion control based on least squares support vector machine for wheeled inverted pendulums (WIP) subjected to dynamics uncertainties
Description of the system degrees of freedoms (DOFs) The considered system has degrees of freedom described by four types of translations with respect to the X and Z axes
Summary
Two-wheeled robots are based on the idea of the inverted pendulum (IP) system. It is a well-identified benchmark problem that provides many challenges to control design. Description of the system DOFs The considered system has degrees of freedom described by four types of translations with respect to the X and Z axes (c) Following the extension of the IB in a vertical position, the control system orders the linear actuator to extend the end-effector to extend in a lateral direction to the location of the object. State space modelling In order to linearize the system, an equilibrium point is considered at the vertical upright position This is applied when the tilt angle is approaching a zero value.
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