On dynamic stability of manipulators mounted on mobile platforms

This paper presents the development of a model which can adequately simulat e the dynamic stability of manipulators mounted on moveable platforms. The model takes into account the dynamics of the base that can potentially rock back-and-forth. Particularly, the model predicts the changes in the veloci ties of the manipulator links and the base due to impact with the ground. T he application of the study is directed at industrial machines that carry h uman-operated hydraulic manipulators. The model is therefore used to simula te for the first time, planar movements of a Caterpillar 215B excavator-bas ed log-loader. The results clearly show the effect of the manipulator movem ent on turning the base over. The results also show that by proper manipula tion of the anus, one can achieve a stable condition and even reverse the ' tipover' situation in such machines.