A Measure of Machine Stability for Moving Base Manipulators

This paper presents a scheme to monitor the potential of tipping over for moving base manipulators. The method of energy stability developed by Messuri and Klein (1985) is extended here to quantitatively include the effect of all factors relevant to the stability of moving base manipulators. These factors include vehicle top-heaviness, rugged terrain conditions, inertial and external reactions arising from the manipulation of the implement. The application of this study is directed at teleoperated heavy-duty hydraulic machines that are used in forestry and construction industries. Simulation studies show that the inertial loadings are important in determining the stability of such machines and thus should not be overlooked