Dynamic Response Analysis of a 3RRR Spherical Parallel Manipulator for Kinematic Compensation on Uneven Terrain

Automated Guided Vehicles (AGVs) are widely used in industrial applications, where maintaining stability on uneven surfaces is a critical challenge. This study presents a method that integrates a 3- RRR spherical parallel manipulator (SPM) to actively stabilize the platform when traversing uneven terrains. The designed manipulator offers a range of motion of up to 30 degrees in pitch and roll, effectively rectifying disturbances caused by surface irregularities. An inverse kinematic approach was employed as the kinematic model to enable real-time control of the SPM. The AGV equipped with the SPM was tested in environments simulating various uneven surface conditions. The proposed system demonstrated significant improvements, achieving a 76% reduction in response time-from 3.87 seconds in a previous study to 0.91 seconds-through efficient computations executed on a microcontroller. While the SPM effectively stabilized the platform on uneven surfaces, integrating an AGV suspension system is suggested to further enhance performance in highly irregular terrains.