The utility trucks with the morphing boom equipment are the first responders in the areas of extreme climate and weather situations for cutting trees to restore traffic, for recovering life beings from destroyed properties, for repairing electric posts, and restoring power. However, such trucks can increase the possibility of road accidents when moving or performing tasks on the gradient due to their geometry change, which can cause a drastic variation of the truck-boom system’s moment of inertia, and the extreme weight re-distribution between the wheels. Thus, morphing capabilities of the boom equipment, i.e., the robotic manipulator, needs to be investigated to hold the truck safe on the roads. In this paper, a novel method, and mathematical models of the multi-body combination of the boom equipment manipulator are presented and implemented symbolically in compact form with the use of recursive Newton-Euler inverse dynamic formulation. The proposed novel method finds the joint torques that must be applied by the actuators. Furthermore, it provides the final forces and moments required for coupling the morphing inverse dynamics of the boom equipment manipulator and the conventional dynamics of the utility truck to manage the dynamic normal reactions of four wheels. In this paper, the boom equipment is considered as a 5 degree-of-freedom (DOF) articulated robotic manipulator. In order to show the accuracy and performance of the method, the paper presents simulation when the boom equipment manipulator morphs its orientation from one position to another.
Inverse Dynamics of the Utility Truck’s Morphing Robotic Manipulator
Mechan. Machine Science
USCToMM Symposium on Mechanical Systems and Robotics ; 2022 ; Rapid City, SD, USA May 19, 2022 - May 21, 2022
Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics ; Kapitel : 13 ; 144-167
01.04.2022
24 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Engineering Index Backfile | 1916
|The truck's place in agriculture
Engineering Index Backfile | 1929
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