This paper describes the development of a simulation model for studying the tip-over stability of a typical heavy-duty hydraulic log-loader machine. The model takes into account the dynamics of (i) the base that can potentially rock back and forth, (ii) the combined vehicle suspension and ground/tire compliance, (iii) the friction between the tires and the ground, and (iv) the hydraulic actuators’ functions. The results demonstrate the effects of the manipulator movements, the flexibility of the contact between the base and the ground, the hydraulic compliance, and the friction properties between the wheels and the ground, on the stability of the machine. Particularly, it is shown that the flexibility of the contact between the base and the ground reduces the machine stability, whereas the flexibility at the manipulator joints due the hydraulic compliance improves the machine stability.
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e-mail: nariman@cc.umanitoba.ca
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June 2005
Technical Briefs
Tip-Over Stability of Manipulator-Like Mobile Hydraulic Machines
R. F. Abo-Shanab,
R. F. Abo-Shanab
Graduate Research Fellow
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N. Sepehri
N. Sepehri
Professor
Member ASME, IEEE
Department of Mechanical and Industrial Engineering,
e-mail: nariman@cc.umanitoba.ca
The University of Manitoba
, Manitoba, Canada R3T 5V6
Search for other works by this author on:
R. F. Abo-Shanab
Graduate Research Fellow
N. Sepehri
Professor
Member ASME, IEEE
Department of Mechanical and Industrial Engineering,
The University of Manitoba
, Manitoba, Canada R3T 5V6e-mail: nariman@cc.umanitoba.ca
J. Dyn. Sys., Meas., Control. Jun 2005, 127(2): 295-301 (7 pages)
Published Online: June 1, 2004
Article history
Received:
February 19, 2003
Revised:
June 1, 2004
Citation
Abo-Shanab, R. F., and Sepehri, N. (June 1, 2004). "Tip-Over Stability of Manipulator-Like Mobile Hydraulic Machines." ASME. J. Dyn. Sys., Meas., Control. June 2005; 127(2): 295–301. https://doi.org/10.1115/1.1898239
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