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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Inverse Dynamics of the Utility Truck’s Morphing Robotic Manipulator


    Additional title:

    Mechan. Machine Science



    Conference:

    USCToMM Symposium on Mechanical Systems and Robotics ; 2022 ; Rapid City, SD, USA May 19, 2022 - May 21, 2022



    Publication date :

    2022-04-01


    Size :

    24 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Inverse Dynamics of the Utility Truck’s Morphing Robotic Manipulator

    Patel, Parth Y. / Vantsevich, Vladimir / Koomullil, Roy | TIBKAT | 2022


    The truck's emancipation

    Clayden, Ludlow | Engineering Index Backfile | 1916


    Modeling of truck's braking dynamics with ABS

    Maxym DYACHUK | DOAJ | 2014

    Free access

    Truck's roller-type loader cover

    European Patent Office | 2020

    Free access

    The truck's place in agriculture

    Hartsock, H.B. | Engineering Index Backfile | 1929