11.9. Dynamics for Parallel and Mobile Robots

Try these first

1. 1.

   What are parallel robots known for?

   Hint

   Think about the connections between their links.

2. 2.

   What is a key factor in mobile robot dynamics?

   Hint

   Consider how these robots move on surfaces.

3. 3.

   What characterizes parallel robots?

   • Open-loop structures
   • Closed-loop structures
   • Multiple DOF

   Hint

   Consider how their links are arranged.

4. 4.

   Are all mobile robots holonomic?

   • True
   • False

   Hint

   Recall how they must navigate surfaces.

5. 5.

   Given a parallel robot's configuration, derive the equations of motion accounting for its constraints. Discuss the implications of this on its control strategies.

   Hint

   Look at how each link interacts with the others.

6. 6.

   Design a mobile robot that can navigate slippery terrains. Discuss the dynamic considerations and equation adjustments you would need.

   Hint

   Think about adding feedback mechanisms for real-time adjustments.