Anti-overturning Method of Mobile Manipulator During Obstacle Crossing Based on Coupling Dynamics

The structural characteristics of mobile manipulator aggravate the overturning problem in obstacle crossing process, so it is important to study the stability of mobile manipulator in obstacle crossing process. In this paper, the coupling dynamics of tracked mobile manipulator under two obstacle crossing attitudes are studied, and the stability of tracked mobile manipulator is evaluated based on the overturning moment (TOM) theory. In addition, an active anti-overturning method is proposed to compensate the overturning moment of the whole system based on the dynamics of manipulator. Finally, a multi-body dynamic simulation model of the tracked mobile manipulator is established. The simulation results prove that the proposed active anti-overturning method can effectively compensate the overturning moment of mobile manipulator, the proposed method can improve the stability of mobile manipulator during obstacle crossing.