Stochastic Vibration of a Mobile Manipulator

[+] Author and Article Information
U. O. Akpan, M. R. Kujath

Department of Mechanical Engineering, Technical University of Nova Scotia, Halifax, Nova Scotia B3J 2X4, Canada

J. Appl. Mech 64(3), 670-675 (Sep 01, 1997) (6 pages) doi:10.1115/1.2788945 History: Received July 26, 1995; Revised February 11, 1996; Online October 25, 2007


The stochastic vibration of a flexible, articulated, and mobile manipulator is studied. The manipulator is mounted on a vehicle which is supported by a suspension system. Stochastic excitation of the manipulator is induced by the uniform horizontal motion of the vehicle on a traction surface. The power spectral density representation and the state-space representation are used to derive expressions for the covariance matrices of the manipulator tip motions. Sensitivity of the variance of the tip motion to the manipulator configuration, length, vehicle velocity, surface roughness coefficient, and structural damping and stiffness are explored. Suggestions for mobile manipulator design to minimize the influence of the stochastic base vibration on the manipulator tip motion are proposed.

Copyright © 1997 by The American Society of Mechanical Engineers
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